{"id":"https://openalex.org/W4221141230","doi":"https://doi.org/10.1109/icra46639.2022.9812018","title":"A Single Correspondence Is Enough: Robust Global Registration to Avoid Degeneracy in Urban Environments","display_name":"A Single Correspondence Is Enough: Robust Global Registration to Avoid Degeneracy in Urban Environments","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4221141230","doi":"https://doi.org/10.1109/icra46639.2022.9812018"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812018","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812018","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2203.06612","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049338356","display_name":"Hyung\u2010Tae Lim","orcid":"https://orcid.org/0000-0002-1130-7345"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hyungtae Lim","raw_affiliation_strings":["KI-AI at KAIST (Korea Advanced Institute of Science and Technology),School of Electrical Engineering,Daejeon,South Korea,34141"],"affiliations":[{"raw_affiliation_string":"KI-AI at KAIST (Korea Advanced Institute of Science and Technology),School of Electrical Engineering,Daejeon,South Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026059665","display_name":"Suyong Yeon","orcid":null},"institutions":[{"id":"https://openalex.org/I60922564","display_name":"Naver (South Korea)","ror":"https://ror.org/04nzrnx83","country_code":"KR","type":"company","lineage":["https://openalex.org/I60922564"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Suyong Yeon","raw_affiliation_strings":["NAVER LABS,Seongnam-si,Gyeonggi-do,South Korea"],"affiliations":[{"raw_affiliation_string":"NAVER LABS,Seongnam-si,Gyeonggi-do,South Korea","institution_ids":["https://openalex.org/I60922564"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Soohyun Ryu","orcid":null},"institutions":[{"id":"https://openalex.org/I60922564","display_name":"Naver (South Korea)","ror":"https://ror.org/04nzrnx83","country_code":"KR","type":"company","lineage":["https://openalex.org/I60922564"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Soohyun Ryu","raw_affiliation_strings":["NAVER LABS,Seongnam-si,Gyeonggi-do,South Korea"],"affiliations":[{"raw_affiliation_string":"NAVER LABS,Seongnam-si,Gyeonggi-do,South Korea","institution_ids":["https://openalex.org/I60922564"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yonghan Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I60922564","display_name":"Naver (South Korea)","ror":"https://ror.org/04nzrnx83","country_code":"KR","type":"company","lineage":["https://openalex.org/I60922564"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yonghan Lee","raw_affiliation_strings":["NAVER LABS,Seongnam-si,Gyeonggi-do,South Korea"],"affiliations":[{"raw_affiliation_string":"NAVER LABS,Seongnam-si,Gyeonggi-do,South Korea","institution_ids":["https://openalex.org/I60922564"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025422162","display_name":"Youngji Kim","orcid":"https://orcid.org/0000-0002-6042-5524"},"institutions":[{"id":"https://openalex.org/I60922564","display_name":"Naver (South Korea)","ror":"https://ror.org/04nzrnx83","country_code":"KR","type":"company","lineage":["https://openalex.org/I60922564"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngji Kim","raw_affiliation_strings":["NAVER LABS,Seongnam-si,Gyeonggi-do,South Korea"],"affiliations":[{"raw_affiliation_string":"NAVER LABS,Seongnam-si,Gyeonggi-do,South Korea","institution_ids":["https://openalex.org/I60922564"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003763706","display_name":"Jae-Seong Yun","orcid":"https://orcid.org/0000-0002-2511-0674"},"institutions":[{"id":"https://openalex.org/I60922564","display_name":"Naver (South Korea)","ror":"https://ror.org/04nzrnx83","country_code":"KR","type":"company","lineage":["https://openalex.org/I60922564"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeseong Yun","raw_affiliation_strings":["NAVER LABS,Seongnam-si,Gyeonggi-do,South Korea"],"affiliations":[{"raw_affiliation_string":"NAVER LABS,Seongnam-si,Gyeonggi-do,South Korea","institution_ids":["https://openalex.org/I60922564"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055946274","display_name":"Euigon Jung","orcid":"https://orcid.org/0000-0002-2296-5845"},"institutions":[{"id":"https://openalex.org/I60922564","display_name":"Naver (South Korea)","ror":"https://ror.org/04nzrnx83","country_code":"KR","type":"company","lineage":["https://openalex.org/I60922564"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Euigon Jung","raw_affiliation_strings":["NAVER LABS,Seongnam-si,Gyeonggi-do,South Korea"],"affiliations":[{"raw_affiliation_string":"NAVER LABS,Seongnam-si,Gyeonggi-do,South Korea","institution_ids":["https://openalex.org/I60922564"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Donghwan Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I60922564","display_name":"Naver (South Korea)","ror":"https://ror.org/04nzrnx83","country_code":"KR","type":"company","lineage":["https://openalex.org/I60922564"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Donghwan Lee","raw_affiliation_strings":["NAVER LABS,Seongnam-si,Gyeonggi-do,South Korea"],"affiliations":[{"raw_affiliation_string":"NAVER LABS,Seongnam-si,Gyeonggi-do,South Korea","institution_ids":["https://openalex.org/I60922564"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059521863","display_name":"Hyun Myung","orcid":"https://orcid.org/0000-0002-5799-2026"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyun Myung","raw_affiliation_strings":["KI-AI at KAIST (Korea Advanced Institute of Science and Technology),School of Electrical Engineering,Daejeon,South Korea,34141"],"affiliations":[{"raw_affiliation_string":"KI-AI at KAIST (Korea Advanced Institute of Science and Technology),School of Electrical Engineering,Daejeon,South Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5049338356"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.6571,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.61032466,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"8010","last_page":"8017"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9746000170707703,"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":0.9746000170707703,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.007600000128149986,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.004100000020116568,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"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/point-cloud","display_name":"Point cloud","score":0.7516951560974121},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7138168811798096},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.592745304107666},{"id":"https://openalex.org/keywords/degeneracy","display_name":"Degeneracy (biology)","score":0.563109815120697},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5211917757987976},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3894057273864746},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35477420687675476}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7516951560974121},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7138168811798096},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.592745304107666},{"id":"https://openalex.org/C2777727622","wikidata":"https://www.wikidata.org/wiki/Q5251772","display_name":"Degeneracy (biology)","level":2,"score":0.563109815120697},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5211917757987976},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3894057273864746},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35477420687675476},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C60644358","wikidata":"https://www.wikidata.org/wiki/Q128570","display_name":"Bioinformatics","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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":3,"locations":[{"id":"doi:10.1109/icra46639.2022.9812018","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812018","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2203.06612","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.06612","pdf_url":"https://arxiv.org/pdf/2203.06612","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2203.06612","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2203.06612","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2203.06612","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.06612","pdf_url":"https://arxiv.org/pdf/2203.06612","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"},{"id":"https://openalex.org/F4320335489","display_name":"Institute for Information and Communications Technology Promotion","ror":"https://ror.org/01g0hqq23"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4221141230.pdf","grobid_xml":"https://content.openalex.org/works/W4221141230.grobid-xml"},"referenced_works_count":74,"referenced_works":["https://openalex.org/W1575387439","https://openalex.org/W1713920520","https://openalex.org/W1953793983","https://openalex.org/W1977077642","https://openalex.org/W1988874269","https://openalex.org/W1993267444","https://openalex.org/W2000018820","https://openalex.org/W2001836169","https://openalex.org/W2049981393","https://openalex.org/W2056298239","https://openalex.org/W2057175746","https://openalex.org/W2073643752","https://openalex.org/W2085261163","https://openalex.org/W2088616581","https://openalex.org/W2090176208","https://openalex.org/W2098890714","https://openalex.org/W2115001439","https://openalex.org/W2115579991","https://openalex.org/W2117130721","https://openalex.org/W2119851068","https://openalex.org/W2130017587","https://openalex.org/W2140711847","https://openalex.org/W2150066425","https://openalex.org/W2154538673","https://openalex.org/W2160821342","https://openalex.org/W2196111060","https://openalex.org/W2296228853","https://openalex.org/W2309143537","https://openalex.org/W2323372618","https://openalex.org/W2344109021","https://openalex.org/W2408654640","https://openalex.org/W2472414548","https://openalex.org/W2585956660","https://openalex.org/W2610614679","https://openalex.org/W2735595030","https://openalex.org/W2745859992","https://openalex.org/W2749287221","https://openalex.org/W2757885920","https://openalex.org/W2805521962","https://openalex.org/W2909157769","https://openalex.org/W2910489334","https://openalex.org/W2912522929","https://openalex.org/W2931310555","https://openalex.org/W2944796900","https://openalex.org/W2955418607","https://openalex.org/W2973258311","https://openalex.org/W2974494712","https://openalex.org/W2983104849","https://openalex.org/W3000964723","https://openalex.org/W3003592400","https://openalex.org/W3004052298","https://openalex.org/W3108492605","https://openalex.org/W3111598592","https://openalex.org/W3127188503","https://openalex.org/W3129245057","https://openalex.org/W3129791688","https://openalex.org/W3130044230","https://openalex.org/W3131191845","https://openalex.org/W3154158938","https://openalex.org/W3161626214","https://openalex.org/W3166975282","https://openalex.org/W3168291432","https://openalex.org/W3175237403","https://openalex.org/W3176159010","https://openalex.org/W3188614947","https://openalex.org/W4249866455","https://openalex.org/W6640111685","https://openalex.org/W6726839888","https://openalex.org/W6753472729","https://openalex.org/W6774320338","https://openalex.org/W6785908184","https://openalex.org/W6790627722","https://openalex.org/W6794561640","https://openalex.org/W6839585925"],"related_works":["https://openalex.org/W1230437","https://openalex.org/W13946776","https://openalex.org/W1424933","https://openalex.org/W15522719","https://openalex.org/W1404390","https://openalex.org/W10229777","https://openalex.org/W15010637","https://openalex.org/W6051369","https://openalex.org/W8337467","https://openalex.org/W10195015"],"abstract_inverted_index":{"Global":[0],"registration":[1,28,69,128,134],"using":[2],"3D":[3,119],"point":[4,139],"clouds":[5],"is":[6,57,71,107,158],"a":[7,32,65,153],"crucial":[8],"technology":[9],"for":[10,137],"mobile":[11],"platforms":[12],"to":[13,30,91,111],"achieve":[14],"localization":[15],"or":[16],"manage":[17],"loop-closing":[18],"situations.":[19],"In":[20,75],"recent":[21],"years,":[22],"numerous":[23],"researchers":[24],"have":[25],"proposed":[26,123],"global":[27,68,127,133],"methods":[29],"address":[31],"large":[33],"number":[34,49],"of":[35,50,101,104,149],"outlier":[36],"correspondences.":[37],"Unfortunately,":[38],"the":[39,44,48,63,84,98,143,147],"degeneracy":[40,93],"problem,":[41,64],"which":[42,47],"represents":[43],"phenomenon":[45],"in":[46,88,94,115],"estimated":[51],"inliers":[52],"becomes":[53],"lower":[54],"than":[55],"three,":[56],"still":[58],"potentially":[59],"inevitable.":[60],"To":[61],"tackle":[62],"degeneracy-robust":[66],"decoupling-based":[67],"method":[70,78,106,124,151],"proposed,":[72],"called":[73],"Quatro.":[74],"particular,":[76],"our":[77,105,122,150],"employs":[79],"quasi-SO(3)":[80],"estimation":[81],"by":[82],"leveraging":[83],"Atlanta":[85],"world":[86],"assumption":[87],"urban":[89],"environments":[90],"avoid":[92],"rotation":[95],"estimation.":[96],"Thus,":[97],"minimum":[99],"degree":[100],"freedom":[102],"(DoF)":[103],"reduced":[108],"from":[109],"three":[110],"one.":[112],"As":[113],"verified":[114],"indoor":[116],"and":[117],"outdoor":[118],"LiDAR":[120],"datasets,":[121],"yields":[125],"robust":[126],"performance":[129],"compared":[130],"with":[131],"other":[132],"methods,":[135],"even":[136],"distant":[138],"cloud":[140],"pairs.":[141],"Furthermore,":[142],"experimental":[144],"results":[145],"confirm":[146],"applicability":[148],"as":[152],"coarse":[154],"alignment.":[155],"Our":[156],"code":[157],"available:":[159],"https://github.com/url-kaist/quatro":[160]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2022-04-03T00:00:00"}