{"id":"https://openalex.org/W2009521286","doi":"https://doi.org/10.1109/iros.2014.6942800","title":"Point cloud registration using congruent pyramids","display_name":"Point cloud registration using congruent pyramids","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2009521286","doi":"https://doi.org/10.1109/iros.2014.6942800","mag":"2009521286"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942800","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942800","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5035133232","display_name":"Aravindhan K Krishnan","orcid":null},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aravindhan K Krishnan","raw_affiliation_strings":["School of Earth and Space Exploration, Arizona State University","School of Earth and Space Exploration, Arizona State University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Earth and Space Exploration, Arizona State University","institution_ids":["https://openalex.org/I55732556"]},{"raw_affiliation_string":"School of Earth and Space Exploration, Arizona State University, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053144325","display_name":"Srikanth Saripalli","orcid":"https://orcid.org/0000-0002-3906-7574"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Srikanth Saripalli","raw_affiliation_strings":["School of Earth and Space Exploration, Arizona State University","School of Earth and Space Exploration, Arizona State University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Earth and Space Exploration, Arizona State University","institution_ids":["https://openalex.org/I55732556"]},{"raw_affiliation_string":"School of Earth and Space Exploration, Arizona State University, USA","institution_ids":["https://openalex.org/I55732556"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":19.8101,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.98660279,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"1812","last_page":"1817"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9991999864578247,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.899706244468689},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.7601083517074585},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.6762385368347168},{"id":"https://openalex.org/keywords/rigid-transformation","display_name":"Rigid transformation","score":0.6589573621749878},{"id":"https://openalex.org/keywords/euclidean-distance","display_name":"Euclidean distance","score":0.6409592032432556},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.6226370334625244},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5893095135688782},{"id":"https://openalex.org/keywords/euclidean-geometry","display_name":"Euclidean geometry","score":0.5631529688835144},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5425586700439453},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.49063482880592346},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47798246145248413},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4766315221786499},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.44612613320350647},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44153568148612976},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34498825669288635},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.30342572927474976},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.1389126479625702},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13766545057296753}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.899706244468689},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.7601083517074585},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.6762385368347168},{"id":"https://openalex.org/C126795593","wikidata":"https://www.wikidata.org/wiki/Q7333813","display_name":"Rigid transformation","level":2,"score":0.6589573621749878},{"id":"https://openalex.org/C120174047","wikidata":"https://www.wikidata.org/wiki/Q847073","display_name":"Euclidean distance","level":2,"score":0.6409592032432556},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.6226370334625244},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5893095135688782},{"id":"https://openalex.org/C129782007","wikidata":"https://www.wikidata.org/wiki/Q162886","display_name":"Euclidean geometry","level":2,"score":0.5631529688835144},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5425586700439453},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.49063482880592346},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47798246145248413},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4766315221786499},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.44612613320350647},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44153568148612976},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34498825669288635},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.30342572927474976},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.1389126479625702},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13766545057296753},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2014.6942800","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942800","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W27728773","https://openalex.org/W1650975994","https://openalex.org/W1953793983","https://openalex.org/W1984811900","https://openalex.org/W1987101444","https://openalex.org/W1988874269","https://openalex.org/W1989625560","https://openalex.org/W2049981393","https://openalex.org/W2068333134","https://openalex.org/W2070698695","https://openalex.org/W2071158641","https://openalex.org/W2091322379","https://openalex.org/W2103420503","https://openalex.org/W2116690857","https://openalex.org/W2119851068","https://openalex.org/W2145178709","https://openalex.org/W2148823327","https://openalex.org/W2152864241","https://openalex.org/W2922018968","https://openalex.org/W3044462486","https://openalex.org/W4237162356","https://openalex.org/W4249866455","https://openalex.org/W6601143984","https://openalex.org/W6641114771","https://openalex.org/W6667649039","https://openalex.org/W6760341072"],"related_works":["https://openalex.org/W2813834476","https://openalex.org/W3016861202","https://openalex.org/W2196111060","https://openalex.org/W4213431252","https://openalex.org/W4306760020","https://openalex.org/W2120071540","https://openalex.org/W2528465333","https://openalex.org/W4388494032","https://openalex.org/W2757636402","https://openalex.org/W2807666361"],"abstract_inverted_index":{"We":[0,77],"present":[1],"a":[2,21,59],"method":[3,16,80],"to":[4,40,57],"compute":[5],"an":[6],"initial":[7,64,94],"alignment":[8,67],"for":[9,63],"pairwise":[10],"registration":[11],"of":[12,20,28,51],"point":[13,46],"clouds.":[14,47],"This":[15],"uses":[17],"the":[18,26,32,52,72,79],"properties":[19],"rigid":[22],"body":[23],"transformation":[24],"-":[25,39,84,92],"ratio":[27],"lengths":[29],"is":[30,37,68],"preserved,":[31],"euclidean":[33],"distance":[34],"between":[35],"points":[36],"preserved":[38],"find":[41],"congruent":[42,53],"pyramids":[43,54],"in":[44],"two":[45],"The":[48,66],"corresponding":[49],"vertices":[50],"are":[55],"used":[56],"derive":[58],"closed":[60],"form":[61],"solution":[62],"alignment.":[65],"refined":[69],"further":[70],"using":[71],"Iterative":[73],"Closest":[74],"Point":[75],"algorithm.":[76],"validate":[78],"on":[81],"challenging":[82],"datasets":[83],"which":[85],"include":[86],"airborne":[87],"LIDAR,":[88],"outdoor,":[89],"and":[90,96],"indoor":[91],"having":[93],"offsets":[95],"varying":[97],"densities.":[98]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
