{"id":"https://openalex.org/W2567552762","doi":"https://doi.org/10.1109/iros.2016.7759604","title":"Fast and robust 3D feature extraction from sparse point clouds","display_name":"Fast and robust 3D feature extraction from sparse point clouds","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2567552762","doi":"https://doi.org/10.1109/iros.2016.7759604","mag":"2567552762"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759604","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11573/924697","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079501654","display_name":"Jacopo Serafin","orcid":null},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Jacopo Serafin","raw_affiliation_strings":["Department of Computer, Control, and Management Engineering \u201cAnto-nio Ruberti\u201d of Sapienza University of Rome, Rome, Italy","Department of Computer, Control, and Management Engineering \"Anto-nio Ruberti\" of Sapienza University of Rome, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Computer, Control, and Management Engineering \u201cAnto-nio Ruberti\u201d of Sapienza University of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Department of Computer, Control, and Management Engineering \"Anto-nio Ruberti\" of Sapienza University of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103139078","display_name":"Edwin Olson","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Edwin Olson","raw_affiliation_strings":["Computer Science and Engineering Department, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering Department, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028708181","display_name":"Giorgio Grisetti","orcid":"https://orcid.org/0000-0002-8038-9989"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Grisetti","raw_affiliation_strings":["Department of Computer, Control, and Management Engineering \u201cAnto-nio Ruberti\u201d of Sapienza University of Rome, Rome, Italy","Department of Computer, Control, and Management Engineering \"Anto-nio Ruberti\" of Sapienza University of Rome, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Computer, Control, and Management Engineering \u201cAnto-nio Ruberti\u201d of Sapienza University of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Department of Computer, Control, and Management Engineering \"Anto-nio Ruberti\" of Sapienza University of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5079501654"],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":97.2866,"has_fulltext":true,"cited_by_count":53,"citation_normalized_percentile":{"value":0.99805902,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4105","last_page":"4112"},"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":0.9995999932289124,"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":0.9990000128746033,"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":0.9238550662994385},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6999008059501648},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.6880859732627869},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.644860029220581},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5912167429924011},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5459507703781128},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.5373194813728333},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4988548755645752},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48073315620422363},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.46376606822013855},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19674736261367798},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07775738835334778},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07294663786888123}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.9238550662994385},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6999008059501648},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.6880859732627869},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.644860029220581},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5912167429924011},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5459507703781128},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.5373194813728333},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4988548755645752},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48073315620422363},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.46376606822013855},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19674736261367798},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07775738835334778},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07294663786888123},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2016.7759604","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759604","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.uniroma1.it:11573/924697","is_oa":true,"landing_page_url":"http://hdl.handle.net/11573/924697","pdf_url":"http://hdl.handle.net/11573/924697","source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:iris.uniroma1.it:11573/924697","is_oa":true,"landing_page_url":"http://hdl.handle.net/11573/924697","pdf_url":"http://hdl.handle.net/11573/924697","source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8299999833106995,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G4955192075","display_name":null,"funder_award_id":"1442773","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2567552762.pdf"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1532362218","https://openalex.org/W1677409904","https://openalex.org/W1964365496","https://openalex.org/W1985720129","https://openalex.org/W2033574012","https://openalex.org/W2041469568","https://openalex.org/W2049981393","https://openalex.org/W2063463366","https://openalex.org/W2070669127","https://openalex.org/W2080823437","https://openalex.org/W2111308925","https://openalex.org/W2117228865","https://openalex.org/W2124386111","https://openalex.org/W2126833203","https://openalex.org/W2132761823","https://openalex.org/W2144491133","https://openalex.org/W2145072179","https://openalex.org/W2156307516","https://openalex.org/W2160821342","https://openalex.org/W2171592532","https://openalex.org/W3040777582","https://openalex.org/W6780413204"],"related_works":["https://openalex.org/W4389574804","https://openalex.org/W2366906938","https://openalex.org/W2349391998","https://openalex.org/W3016928466","https://openalex.org/W4205655149","https://openalex.org/W2936725271","https://openalex.org/W3150655618","https://openalex.org/W3108295644","https://openalex.org/W1578717197","https://openalex.org/W4282934273"],"abstract_inverted_index":{"Matching":[0],"3D":[1,32],"point":[2,23,33,90],"clouds,":[3],"a":[4,44,105,130],"critical":[5],"operation":[6],"in":[7,58,68,96],"map":[8],"building":[9],"and":[10,21,62,84,98,133],"localization,":[11],"is":[12,71],"difficult":[13],"with":[14],"Velodyne-type":[15],"sensors":[16],"due":[17],"to":[18,72,103],"the":[19,115,125,139],"sparse":[20],"non-uniform":[22],"clouds":[24,34],"that":[25],"they":[26],"produce.":[27],"Standard":[28],"methods":[29],"from":[30],"dense":[31],"are":[35],"generally":[36],"not":[37],"effective.":[38],"In":[39],"this":[40,69,75],"paper,":[41],"we":[42,134],"describe":[43],"feature-based":[45],"approach":[46],"using":[47,129],"Principal":[48],"Components":[49],"Analysis":[50],"(PCA)":[51],"of":[52,54,77,117],"neighborhoods":[53],"points,":[55],"which":[56],"results":[57,137],"mathematically":[59],"principled":[60],"line":[61],"plane":[63],"features.":[64],"The":[65,92],"key":[66],"contribution":[67],"work":[70],"show":[73],"how":[74],"type":[76],"feature":[78],"extraction":[79],"can":[80,99],"be":[81,100],"done":[82],"efficiently":[83],"robustly":[85],"even":[86],"on":[87,120],"non-uniformly":[88],"sampled":[89],"clouds.":[91],"resulting":[93],"detector":[94],"runs":[95],"real-time":[97],"easily":[101],"tuned":[102],"have":[104],"low":[106],"false":[107],"positive":[108],"rate,":[109],"simplifying":[110],"data":[111],"association.":[112],"We":[113],"evaluate":[114],"performance":[116],"our":[118,136],"algorithm":[119],"an":[121],"autonomous":[122],"car":[123],"at":[124],"MCity":[126],"Test":[127],"Facility":[128],"Velodyne":[131],"HDL-32E,":[132],"compare":[135],"against":[138],"state-of-the-art":[140],"NARF":[141],"keypoint":[142],"detector.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":1}],"updated_date":"2026-03-15T09:29:46.208133","created_date":"2025-10-10T00:00:00"}