{"id":"https://openalex.org/W4401415273","doi":"https://doi.org/10.1109/icra57147.2024.10611582","title":"Colmap-PCD: An Open-source Tool for Fine Image-to-point cloud Registration","display_name":"Colmap-PCD: An Open-source Tool for Fine Image-to-point cloud Registration","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415273","doi":"https://doi.org/10.1109/icra57147.2024.10611582"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611582","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":"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/A5038982144","display_name":"Chunge Bai","orcid":"https://orcid.org/0000-0002-2114-3073"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chunge Bai","raw_affiliation_strings":["AgiBot Technology Co. Ltd. and Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AgiBot Technology Co. Ltd. and Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031837561","display_name":"Ruijie Fu","orcid":"https://orcid.org/0000-0002-1667-9797"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ruijie Fu","raw_affiliation_strings":["Robotics Institute at Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute at Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051218446","display_name":"Xiang Gao","orcid":"https://orcid.org/0000-0003-0030-5560"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiang Gao","raw_affiliation_strings":["AgiBot Technology Co. Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AgiBot Technology Co. Ltd","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5038982144"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":16.2562,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.98662824,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1723","last_page":"1729"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9984999895095825,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.996399998664856,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6954798102378845},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.6549647450447083},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6412606835365295},{"id":"https://openalex.org/keywords/open-source","display_name":"Open source","score":0.6348515748977661},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.5538472533226013},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5244208574295044},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5161622762680054},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.44211000204086304},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.44073110818862915},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4123859405517578},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.08580264449119568},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.07248592376708984},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06685709953308105},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.05984055995941162}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6954798102378845},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.6549647450447083},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6412606835365295},{"id":"https://openalex.org/C3018397939","wikidata":"https://www.wikidata.org/wiki/Q3644502","display_name":"Open source","level":3,"score":0.6348515748977661},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.5538472533226013},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5244208574295044},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5161622762680054},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.44211000204086304},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.44073110818862915},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4123859405517578},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.08580264449119568},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.07248592376708984},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06685709953308105},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.05984055995941162}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611582","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1512698229","https://openalex.org/W1677409904","https://openalex.org/W1970504153","https://openalex.org/W1976214939","https://openalex.org/W1991544872","https://openalex.org/W2005750530","https://openalex.org/W2033819227","https://openalex.org/W2049981393","https://openalex.org/W2091790851","https://openalex.org/W2097649661","https://openalex.org/W2117228865","https://openalex.org/W2125795712","https://openalex.org/W2135973942","https://openalex.org/W2137052305","https://openalex.org/W2296228853","https://openalex.org/W2471962767","https://openalex.org/W2519683295","https://openalex.org/W2886968365","https://openalex.org/W2909908358","https://openalex.org/W3207826836","https://openalex.org/W4230766380","https://openalex.org/W4292544413"],"related_works":["https://openalex.org/W4244478748","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W2560439919","https://openalex.org/W4389340727","https://openalex.org/W3150465815","https://openalex.org/W1997222214","https://openalex.org/W2802581102","https://openalex.org/W2494640179"],"abstract_inverted_index":{"State-of-the-art":[0],"techniques":[1],"for":[2],"monocular":[3,129],"camera":[4,75,130,153],"reconstruction":[5,20,52,108,163],"predominantly":[6],"rely":[7],"on":[8,43],"the":[9,89,123,138,144,159,188,199],"Structure":[10],"from":[11],"Motion":[12],"(SfM)":[13],"pipeline.":[14],"However,":[15,88],"such":[16],"methods":[17,41],"often":[18],"yield":[19],"outcomes":[21,90],"that":[22,110,191],"lack":[23],"crucial":[24],"scale":[25,125],"information,":[26],"and":[27,74,82,96,154],"over":[28],"time,":[29],"accumulation":[30],"of":[31,79,152,169,196],"images":[32,142,197],"leads":[33],"to":[34,54,70,93,120,140,161,198],"inevitable":[35],"drift":[36],"issues.":[37],"In":[38,100],"contrast,":[39],"mapping":[40,86],"based":[42],"LiDAR":[44,73,114,155],"scans":[45],"are":[46,91],"popular":[47],"in":[48,63,77,128,175],"large-scale":[49],"urban":[50],"scene":[51],"due":[53],"their":[55],"precise":[56,80,193],"distance":[57],"measurements,":[58],"a":[59,105,112,117],"capability":[60],"fundamentally":[61],"absent":[62],"visual-based":[64],"approaches.":[65],"Researchers":[66],"have":[67,179],"made":[68],"attempts":[69],"utilize":[71],"concurrent":[72],"measurements":[76],"pursuit":[78],"scaling":[81],"color":[83],"details":[84],"within":[85],"outcomes.":[87],"subject":[92],"extrinsic":[94],"calibration":[95],"time":[97],"synchronization":[98],"precision.":[99],"this":[101,176],"paper,":[102],"we":[103,178],"propose":[104],"novel":[106],"cost-effective":[107],"pipeline":[109],"utilizes":[111],"pre-established":[113],"map":[115,147],"as":[116],"fixed":[118],"constraint":[119],"effectively":[121],"address":[122],"inherent":[124],"challenges":[126],"present":[127],"reconstruction.":[131],"To":[132,171],"our":[133,135],"knowledge,":[134],"method":[136],"is":[137],"first":[139],"register":[141],"onto":[143],"point":[145,200],"cloud":[146,201],"without":[148],"requiring":[149],"synchronous":[150],"capture":[151],"data,":[156],"granting":[157],"us":[158],"flexibility":[160],"manage":[162],"detail":[164],"levels":[165],"across":[166],"various":[167],"areas":[168],"interest.":[170],"facilitate":[172],"further":[173],"research":[174],"domain,":[177],"released":[180],"Colmap-PCD<sup":[181],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[182],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3</sup>,":[183],"an":[184],"open-source":[185],"tool":[186],"leveraging":[187],"Colmap":[189],"algorithm,":[190],"enables":[192],"fine-scale":[194],"registration":[195],"map.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}