{"id":"https://openalex.org/W4401414383","doi":"https://doi.org/10.1109/icra57147.2024.10610562","title":"HEGN: Hierarchical Equivariant Graph Neural Network for 9DoF Point Cloud Registration","display_name":"HEGN: Hierarchical Equivariant Graph Neural Network for 9DoF Point Cloud Registration","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414383","doi":"https://doi.org/10.1109/icra57147.2024.10610562"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610562","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5019704828","display_name":"Adam Misik","orcid":null},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Adam Misik","raw_affiliation_strings":["Siemens Technology,Munich,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Siemens Technology,Munich,Germany","institution_ids":["https://openalex.org/I1325886976"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035028804","display_name":"Driton Salihu","orcid":"https://orcid.org/0000-0001-9152-0770"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Driton Salihu","raw_affiliation_strings":["Technical University of Munich,School of Computation, Information, and Technology, Chair of Media Technology, Munich Institute of Robotics and Machine Intelligence (MIRMI),Munich,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,School of Computation, Information, and Technology, Chair of Media Technology, Munich Institute of Robotics and Machine Intelligence (MIRMI),Munich,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083567474","display_name":"Xin Su","orcid":"https://orcid.org/0000-0001-7125-6378"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Xin Su","raw_affiliation_strings":["Technical University of Munich,School of Computation, Information, and Technology, Chair of Media Technology, Munich Institute of Robotics and Machine Intelligence (MIRMI),Munich,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,School of Computation, Information, and Technology, Chair of Media Technology, Munich Institute of Robotics and Machine Intelligence (MIRMI),Munich,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002842562","display_name":"Heike Brock","orcid":"https://orcid.org/0000-0002-9530-4714"},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Heike Brock","raw_affiliation_strings":["Siemens Technology,Munich,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Siemens Technology,Munich,Germany","institution_ids":["https://openalex.org/I1325886976"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077346002","display_name":"Eckehard Steinbach","orcid":"https://orcid.org/0000-0001-8853-2703"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Eckehard Steinbach","raw_affiliation_strings":["Technical University of Munich,School of Computation, Information, and Technology, Chair of Media Technology, Munich Institute of Robotics and Machine Intelligence (MIRMI),Munich,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,School of Computation, Information, and Technology, Chair of Media Technology, Munich Institute of Robotics and Machine Intelligence (MIRMI),Munich,Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6981","last_page":"6988"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9952999949455261,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7231855392456055},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7194715738296509},{"id":"https://openalex.org/keywords/equivariant-map","display_name":"Equivariant map","score":0.5853055715560913},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.45811787247657776},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.44435426592826843},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4403533935546875},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4360736608505249},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.32886865735054016},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17504024505615234}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7231855392456055},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7194715738296509},{"id":"https://openalex.org/C171036898","wikidata":"https://www.wikidata.org/wiki/Q256355","display_name":"Equivariant map","level":2,"score":0.5853055715560913},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.45811787247657776},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.44435426592826843},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4403533935546875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4360736608505249},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.32886865735054016},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17504024505615234},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10610562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610562","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1734260","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1734260","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W200719108","https://openalex.org/W1920022804","https://openalex.org/W1988874269","https://openalex.org/W2519911873","https://openalex.org/W2560662850","https://openalex.org/W2610614679","https://openalex.org/W2739110650","https://openalex.org/W2888144883","https://openalex.org/W2979750740","https://openalex.org/W2981440248","https://openalex.org/W2987505621","https://openalex.org/W3013243617","https://openalex.org/W3035338950","https://openalex.org/W3096538374","https://openalex.org/W3108059345","https://openalex.org/W3130552752","https://openalex.org/W3132558215","https://openalex.org/W3151772196","https://openalex.org/W3158545781","https://openalex.org/W3168086592","https://openalex.org/W3176751833","https://openalex.org/W3177280664","https://openalex.org/W3179449781","https://openalex.org/W3183768538","https://openalex.org/W3199149066","https://openalex.org/W3204811697","https://openalex.org/W3207836380","https://openalex.org/W4205105995","https://openalex.org/W4221160556","https://openalex.org/W4285102336","https://openalex.org/W4293254270","https://openalex.org/W4312700461","https://openalex.org/W4312877043","https://openalex.org/W4315778466","https://openalex.org/W4317791937","https://openalex.org/W4319300083","https://openalex.org/W4321512572","https://openalex.org/W4328007191","https://openalex.org/W4383097419","https://openalex.org/W4383097449","https://openalex.org/W4383108738","https://openalex.org/W4383108936","https://openalex.org/W4383109460","https://openalex.org/W4386076348","https://openalex.org/W4386598557","https://openalex.org/W6635797942","https://openalex.org/W6763422710","https://openalex.org/W6799787682","https://openalex.org/W6803403409","https://openalex.org/W6810789854"],"related_works":["https://openalex.org/W3148895720","https://openalex.org/W2393913406","https://openalex.org/W30258475","https://openalex.org/W2356579025","https://openalex.org/W2736697936","https://openalex.org/W3211835374","https://openalex.org/W2548611373","https://openalex.org/W1601809778","https://openalex.org/W3169304289","https://openalex.org/W2373733345"],"abstract_inverted_index":{"Given":[0],"its":[1,204],"wide":[2],"application":[3],"in":[4,28,37,101,164,198,207],"robotics,":[5,38],"point":[6,26,47,67,85,93,200,210],"cloud":[7,68,201,211],"registration":[8,202],"is":[9],"a":[10,19,50,59,112,139],"widely":[11],"researched":[12],"topic.":[13],"Conventional":[14],"methods":[15],"aim":[16],"to":[17,73,78,124],"find":[18],"rotation":[20,145],"and":[21,76,105,134,146,185,203],"translation":[22,147],"that":[23,117],"align":[24],"two":[25],"clouds":[27],"6":[29],"degrees":[30],"of":[31,122,168,176,196],"freedom":[32],"(DoF).":[33],"However,":[34],"certain":[35],"tasks":[36],"such":[39],"as":[40],"category-level":[41],"pose":[42],"estimation,":[43],"involve":[44],"non-uniformly":[45],"scaled":[46],"clouds,":[48,94],"requiring":[49],"9DoF":[51,66,199],"transform":[52],"for":[53,65,91],"accurate":[54],"alignment.":[55],"We":[56,172],"propose":[57],"HEGN,":[58],"novel":[60,113],"equivariant":[61,97,150,170],"graph":[62,89,127,140,155],"neural":[63],"network":[64],"registration.":[69,212],"HEGN":[70,177,197],"utilizes":[71],"equivariance":[72],"rotation,":[74],"translation,":[75],"scaling":[77],"estimate":[79,158],"the":[80,119,126,131,154,165,169,174,181,186,193],"transformation":[81],"without":[82],"relying":[83],"on":[84,88],"correspondences.":[86],"Based":[87],"representations":[90],"both":[92],"we":[95,110,137,143,160],"extract":[96],"node":[98,114,135],"features":[99,151],"aggregated":[100,152],"their":[102],"local,":[103],"cross-,":[104],"global":[106],"context.":[107],"In":[108],"addition,":[109],"introduce":[111],"pooling":[115],"mechanism":[116],"leverages":[118],"cross-context":[120],"importance":[121],"nodes":[123],"pool":[125],"representation.":[128],"By":[129],"repeating":[130],"feature":[132],"extraction":[133],"pooling,":[136],"obtain":[138],"hierarchy.":[141,156],"Finally,":[142],"determine":[144],"by":[148],"aligning":[149],"over":[153],"To":[157],"scaling,":[159],"leverage":[161],"scale":[162],"information":[163],"vector":[166],"norm":[167],"features.":[171],"evaluate":[173],"effectiveness":[175],"through":[178],"experiments":[179],"with":[180],"synthetic":[182],"ModelNet40":[183],"dataset":[184],"real-world":[187],"ScanObjectNN":[188],"dataset.":[189],"The":[190],"results":[191],"show":[192],"superior":[194],"performance":[195,206],"competitive":[205],"conventional":[208],"6DoF":[209]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}