{"id":"https://openalex.org/W2968374624","doi":"https://doi.org/10.1109/icra.2019.8794135","title":"Robust Generalized Point Set Registration using Inhomogeneous Hybrid Mixture Models via Expectation Maximization","display_name":"Robust Generalized Point Set Registration using Inhomogeneous Hybrid Mixture Models via Expectation Maximization","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968374624","doi":"https://doi.org/10.1109/icra.2019.8794135","mag":"2968374624"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794135","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040071840","display_name":"Zhe Min","orcid":"https://orcid.org/0000-0002-8903-1561"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhe Min","raw_affiliation_strings":["Robotics, Perception and Artificial Intelligence Lab The Chinese University of Hong Kong N.T., Hong Kong"],"affiliations":[{"raw_affiliation_string":"Robotics, Perception and Artificial Intelligence Lab The Chinese University of Hong Kong N.T., Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Shenzhen Research Institute of the Chinese University of Hong Kong in Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Research Institute of the Chinese University of Hong Kong in Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5040071840"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":4.7604,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.94424067,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"8733","last_page":"8739"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mixture-model","display_name":"Mixture model","score":0.8122495412826538},{"id":"https://openalex.org/keywords/point-set-registration","display_name":"Point set registration","score":0.661097526550293},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6538242101669312},{"id":"https://openalex.org/keywords/expectation\u2013maximization-algorithm","display_name":"Expectation\u2013maximization algorithm","score":0.6508236527442932},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5450972318649292},{"id":"https://openalex.org/keywords/rigid-transformation","display_name":"Rigid transformation","score":0.5335507988929749},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5061830878257751},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4813988208770752},{"id":"https://openalex.org/keywords/normal","display_name":"Normal","score":0.457922101020813},{"id":"https://openalex.org/keywords/rotation-matrix","display_name":"Rotation matrix","score":0.44305509328842163},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4419914484024048},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.4417423903942108},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4364440143108368},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.4278668463230133},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3993101119995117},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.33906659483909607},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.1785588562488556},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.10991564393043518}],"concepts":[{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.8122495412826538},{"id":"https://openalex.org/C200336642","wikidata":"https://www.wikidata.org/wiki/Q15058706","display_name":"Point set registration","level":3,"score":0.661097526550293},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6538242101669312},{"id":"https://openalex.org/C182081679","wikidata":"https://www.wikidata.org/wiki/Q1275153","display_name":"Expectation\u2013maximization algorithm","level":3,"score":0.6508236527442932},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5450972318649292},{"id":"https://openalex.org/C126795593","wikidata":"https://www.wikidata.org/wiki/Q7333813","display_name":"Rigid transformation","level":2,"score":0.5335507988929749},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5061830878257751},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4813988208770752},{"id":"https://openalex.org/C118732077","wikidata":"https://www.wikidata.org/wiki/Q273176","display_name":"Normal","level":3,"score":0.457922101020813},{"id":"https://openalex.org/C83633838","wikidata":"https://www.wikidata.org/wiki/Q1256564","display_name":"Rotation matrix","level":2,"score":0.44305509328842163},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4419914484024048},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.4417423903942108},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4364440143108368},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.4278668463230133},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3993101119995117},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.33906659483909607},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.1785588562488556},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.10991564393043518},{"id":"https://openalex.org/C49781872","wikidata":"https://www.wikidata.org/wiki/Q1045555","display_name":"Maximum likelihood","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8794135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794135","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W327180933","https://openalex.org/W1953793983","https://openalex.org/W1988874269","https://openalex.org/W2012502415","https://openalex.org/W2015901765","https://openalex.org/W2049981393","https://openalex.org/W2055611542","https://openalex.org/W2074199334","https://openalex.org/W2074693620","https://openalex.org/W2097832352","https://openalex.org/W2114354851","https://openalex.org/W2124141313","https://openalex.org/W2133476816","https://openalex.org/W2134236847","https://openalex.org/W2150190641","https://openalex.org/W2157656099","https://openalex.org/W2172193928","https://openalex.org/W2271206385","https://openalex.org/W2338121015","https://openalex.org/W2342833881","https://openalex.org/W2584885816","https://openalex.org/W2588230476","https://openalex.org/W2594495318","https://openalex.org/W2597187707","https://openalex.org/W2604297794","https://openalex.org/W2654024950","https://openalex.org/W2735299109","https://openalex.org/W2745964468","https://openalex.org/W2749287221","https://openalex.org/W2751378974","https://openalex.org/W2773060975","https://openalex.org/W2773277815","https://openalex.org/W2774328584","https://openalex.org/W2795654245","https://openalex.org/W2795890078","https://openalex.org/W2889784867","https://openalex.org/W2892070821","https://openalex.org/W2896960598","https://openalex.org/W2901219313","https://openalex.org/W2908684560","https://openalex.org/W2962843082","https://openalex.org/W2963557185","https://openalex.org/W6734194648","https://openalex.org/W6735988346"],"related_works":["https://openalex.org/W4210553842","https://openalex.org/W1669293561","https://openalex.org/W2124141313","https://openalex.org/W2171490473","https://openalex.org/W1982811570","https://openalex.org/W651493530","https://openalex.org/W2164621176","https://openalex.org/W2979792463","https://openalex.org/W4382281049","https://openalex.org/W2291534469"],"abstract_inverted_index":{"Point":[0],"set":[1,46,106,110],"registration":[2,47,162,174],"(PSR)":[3],"is":[4,23,41,48,101,164],"an":[5],"important":[6],"problem":[7],"in":[8,25],"computer":[9],"vision,":[10],"robotics":[11],"and":[12,50,107,119,169],"biomedical":[13],"engineering":[14],"communities.":[15],"Usually,":[16],"only":[17],"positional":[18],"information":[19],"at":[20],"each":[21,39],"point":[22,40,45],"adopted":[24],"a":[26,96,150],"registration.":[27],"In":[28,57,69],"this":[29],"paper,":[30],"the":[31,53,58,60,64,70,76,79,92,132,145,172],"orientational":[32],"vector":[33,81,109],"(or":[34],"normal":[35,108],"vector)":[36],"associated":[37],"with":[38],"also":[42],"utilized.":[43],"Generalized":[44],"formulated":[49],"solved":[51],"under":[52],"Expectation-Maximization":[54],"(EM)":[55],"framework.":[56],"E-step,":[59],"posterior":[61],"probabilities":[62,66],"representing":[63],"correspondence":[65],"are":[67,82,111,137],"computed.":[68],"Mstep,":[71],"rigid":[72],"transformation":[73],"parameters":[74],"including":[75],"rotation":[77],"matrix,":[78],"translation":[80],"updated.":[83],"The":[84,103],"proposed":[85],"algorithm":[86,158],"stops":[87],"when":[88],"it":[89],"converges":[90],"to":[91,113,139,167],"optimal":[93],"solution":[94],"or":[95],"maximum":[97],"number":[98],"of":[99],"iterations":[100],"achieved.":[102],"observed":[104],"position":[105],"assumed":[112,138],"follow":[114],"Gaussian":[115],"Mixture":[116,122],"Models":[117,123],"(GMMs)":[118],"Fisher":[120],"distribution":[121],"(FMMs),":[124],"respectively.":[125],"To":[126],"further":[127],"improve":[128],"our":[129,157],"algorithm's":[130],"robustness,":[131],"hybrid":[133],"mixture":[134],"models":[135],"(HMMs)":[136],"be":[140],"inhomogeneous.":[141],"Experimental":[142],"results":[143],"on":[144],"surface":[146],"points":[147],"extracted":[148],"from":[149],"human":[151],"femur'":[152],"CT":[153],"model":[154],"show":[155],"that":[156],"can":[159],"achieve":[160],"lower":[161],"error,":[163],"more":[165],"robust":[166],"noise":[168],"outliers":[170],"than":[171],"state-of-the-art":[173],"methods.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
