{"id":"https://openalex.org/W4383108275","doi":"https://doi.org/10.1109/icra48891.2023.10160361","title":"Bidirectional Generalised Rigid Point Set Registration","display_name":"Bidirectional Generalised Rigid Point Set Registration","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108275","doi":"https://doi.org/10.1109/icra48891.2023.10160361"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160361","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 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/A5101541870","display_name":"Ang Zhang","orcid":"https://orcid.org/0000-0002-0749-5822"},"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":"Ang Zhang","raw_affiliation_strings":["The Chinese University of Hong Kong, N.T.,Department of Electronic Engineering,Hong Kong SAR,China","Department of Electronic Engineering, The Chinese University of Hong Kong, N.T., Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong, N.T.,Department of Electronic Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, N.T., Hong Kong SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040071840","display_name":"Zhe Min","orcid":"https://orcid.org/0000-0002-8903-1561"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]},{"id":"https://openalex.org/I4210122016","display_name":"Wellcome / EPSRC Centre for Interventional and Surgical Sciences","ror":"https://ror.org/03r42r570","country_code":"GB","type":"facility","lineage":["https://openalex.org/I124357947","https://openalex.org/I1299528221","https://openalex.org/I4210087105","https://openalex.org/I4210122016","https://openalex.org/I45129253","https://openalex.org/I87048295"]},{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Zhe Min","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University,China","Wellcome/EPSRC Centre for Surgical and Interventional Sciences, University College, London, UK","School of Control Science and Engineering, Shandong University, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University,China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"Wellcome/EPSRC Centre for Surgical and Interventional Sciences, University College, London, UK","institution_ids":["https://openalex.org/I4210122016","https://openalex.org/I45129253"]},{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100418896","display_name":"Li Liu","orcid":"https://orcid.org/0000-0003-1807-5492"},"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":false,"raw_author_name":"Li Liu","raw_affiliation_strings":["The Chinese University of Hong Kong, N.T.,Department of Electronic Engineering,Hong Kong SAR,China","Department of Electronic Engineering, The Chinese University of Hong Kong, N.T., Hong Kong SAR, China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong, N.T.,Department of Electronic Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, N.T., Hong Kong SAR, China","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/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"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"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China","Shenzhen Research Institute of the Chinese University of Hong Kong, Shenzhen, China","Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Shenzhen Research Institute of the Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101541870"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":0.3685,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.58792265,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"6873","last_page":"6879"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9983000159263611,"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"}},"topics":[{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9983000159263611,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9957000017166138,"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/T13282","display_name":"Automated Road and Building Extraction","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/noise","display_name":"Noise (video)","score":0.655603289604187},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.641097903251648},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6291038990020752},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5508201718330383},{"id":"https://openalex.org/keywords/expectation\u2013maximization-algorithm","display_name":"Expectation\u2013maximization algorithm","score":0.5181856751441956},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5077980160713196},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.479867160320282},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.479123592376709},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.47204408049583435},{"id":"https://openalex.org/keywords/probability-density-function","display_name":"Probability density function","score":0.41293424367904663},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4032209813594818},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2821517586708069},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25644630193710327},{"id":"https://openalex.org/keywords/maximum-likelihood","display_name":"Maximum likelihood","score":0.08707985281944275},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.0744205117225647}],"concepts":[{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.655603289604187},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.641097903251648},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6291038990020752},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5508201718330383},{"id":"https://openalex.org/C182081679","wikidata":"https://www.wikidata.org/wiki/Q1275153","display_name":"Expectation\u2013maximization algorithm","level":3,"score":0.5181856751441956},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5077980160713196},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.479867160320282},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.479123592376709},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.47204408049583435},{"id":"https://openalex.org/C197055811","wikidata":"https://www.wikidata.org/wiki/Q207522","display_name":"Probability density function","level":2,"score":0.41293424367904663},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4032209813594818},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2821517586708069},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25644630193710327},{"id":"https://openalex.org/C49781872","wikidata":"https://www.wikidata.org/wiki/Q1045555","display_name":"Maximum likelihood","level":2,"score":0.08707985281944275},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0744205117225647},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160361","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5736026126","display_name":null,"funder_award_id":"2019YFB1312400","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W78351518","https://openalex.org/W327180933","https://openalex.org/W1994104838","https://openalex.org/W2049981393","https://openalex.org/W2074693620","https://openalex.org/W2134236847","https://openalex.org/W2150190641","https://openalex.org/W2338121015","https://openalex.org/W2344109021","https://openalex.org/W2594495318","https://openalex.org/W2597187707","https://openalex.org/W2738467687","https://openalex.org/W2809795042","https://openalex.org/W2810112987","https://openalex.org/W2942351283","https://openalex.org/W2963264709","https://openalex.org/W2979988078","https://openalex.org/W2986382673","https://openalex.org/W3012852601","https://openalex.org/W3013243617","https://openalex.org/W3034295752","https://openalex.org/W3035030518","https://openalex.org/W3035338950","https://openalex.org/W3047057232","https://openalex.org/W3092523194","https://openalex.org/W3096538374","https://openalex.org/W3111598592","https://openalex.org/W3135301258","https://openalex.org/W3148983743","https://openalex.org/W3164895572","https://openalex.org/W3165061275","https://openalex.org/W3177280664","https://openalex.org/W3187351903","https://openalex.org/W3198240092","https://openalex.org/W3206918971","https://openalex.org/W3214555988","https://openalex.org/W4200030083","https://openalex.org/W4214707182","https://openalex.org/W4283331827","https://openalex.org/W4285102192","https://openalex.org/W4285803058","https://openalex.org/W4312306425","https://openalex.org/W6603199352","https://openalex.org/W6662860747","https://openalex.org/W6772886726","https://openalex.org/W6782003584","https://openalex.org/W6791205910"],"related_works":["https://openalex.org/W3006513224","https://openalex.org/W2046456988","https://openalex.org/W2357409937","https://openalex.org/W2978674666","https://openalex.org/W2074430941","https://openalex.org/W2113096305","https://openalex.org/W2580722822","https://openalex.org/W2772305933","https://openalex.org/W2330365033","https://openalex.org/W2477720232"],"abstract_inverted_index":{"In":[0],"medical":[1,20],"robotics":[2],"and":[3,25,46,53,94,143,165,171,178],"image-guided":[4],"surgery":[5],"(IGS),":[6],"registration":[7,28],"is":[8,111,122],"needed":[9],"in":[10,49,57,69],"order":[11],"to":[12,35,43,61,101,140],"align":[13],"together":[14],"the":[15,41,66,75,103,125,169],"coordinate":[16],"frames":[17],"of":[18,162,173],"robots,":[19],"imaging":[21],"modalities,":[22],"surgical":[23],"tools,":[24],"patients.":[26],"Existing":[27],"algorithms":[29],"often":[30],"assume":[31],"one":[32],"point":[33,59,157],"set":[34],"be":[36,62],"a":[37,115],"noise-free":[38],"model":[39],"while":[40],"other":[42],"contain":[44],"noise":[45,52,110],"outliers.":[47],"However,":[48],"real":[50],"scenarios,":[51],"outliers":[54],"can":[55],"exist":[56],"both":[58],"sets":[60],"registered.":[63],"To":[64],"eliminate":[65],"above-mentioned":[67],"challenge,":[68],"this":[70],"paper,":[71],"we":[72],"formally":[73],"formulate":[74],"Bi-directional":[76,127],"Generalised":[77,128],"Rigid":[78],"Point":[79,131],"Set":[80],"Registration":[81],"(Bi-GRPSR)":[82],"problem":[83],"where":[84,134],"normal":[85],"vectors":[86],"are":[87,99,138,149],"adopted,":[88],"bi-directional":[89],"probability":[90],"density":[91],"function":[92],"(PDFs)":[93],"Hybrid":[95],"Mixture":[96],"Models":[97],"(HMMs)":[98],"constructed":[100],"derive":[102],"objective":[104],"function.":[105],"Bi-GRPSR":[106],"considering":[107],"anisotropic":[108],"positional":[109],"thus":[112],"cast":[113],"as":[114],"maximum":[116],"likelihood":[117],"estimation":[118],"(MLE)":[119],"problem,":[120],"which":[121],"solved":[123],"by":[124],"proposed":[126],"Anisotropic":[129],"Coherent":[130],"Drift":[132],"(Bi-AGCPD)":[133],"spatially":[135],"nearby":[136],"points":[137],"considered":[139],"move":[141],"coherently":[142],"iterative":[144],"expectation":[145],"maximization":[146],"(EM)":[147],"steps":[148],"involved.":[150],"Experimental":[151],"results":[152],"on":[153],"two":[154],"human":[155],"bone":[156],"sets,":[158],"under":[159],"different":[160],"settings":[161],"noise,":[163],"outliers,":[164],"overlapping":[166],"ratios,":[167],"validate":[168],"effectiveness":[170],"improvements":[172],"Bi-AGCPD":[174],"over":[175],"existing":[176],"probabilistic":[177],"learning-based":[179],"methods.":[180]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
