{"id":"https://openalex.org/W2771311489","doi":"https://doi.org/10.1109/iros.2017.8202267","title":"Gaussian mixture model-signature quadratic form distance based point set registration","display_name":"Gaussian mixture model-signature quadratic form distance based point set registration","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2771311489","doi":"https://doi.org/10.1109/iros.2017.8202267","mag":"2771311489"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8202267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202267","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5100718263","display_name":"Liang Li","orcid":"https://orcid.org/0000-0001-5802-2681"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Liang Li","raw_affiliation_strings":["Department of Automation, Key Laboratory of System Control and Information Processing, Shanghai, CN"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Key Laboratory of System Control and Information Processing, Shanghai, CN","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009256880","display_name":"Ming Yang","orcid":"https://orcid.org/0000-0002-8679-9137"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ming Yang","raw_affiliation_strings":["Department of Automation, Key Laboratory of System Control and Information Processing, Shanghai, CN"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Key Laboratory of System Control and Information Processing, Shanghai, CN","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048517656","display_name":"Chunxiang Wang","orcid":"https://orcid.org/0000-0002-6885-6740"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunxiang Wang","raw_affiliation_strings":["Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100382463","display_name":"Bing Wang","orcid":"https://orcid.org/0000-0001-7220-8781"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bing Wang","raw_affiliation_strings":["Department of Automation, Key Laboratory of System Control and Information Processing, Shanghai, CN"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Key Laboratory of System Control and Information Processing, Shanghai, CN","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100718263"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1775,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.89595535,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"998","last_page":"1003"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9980000257492065,"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/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9972000122070312,"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-set-registration","display_name":"Point set registration","score":0.6635284423828125},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6252830028533936},{"id":"https://openalex.org/keywords/mixture-model","display_name":"Mixture model","score":0.6184197068214417},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5602409243583679},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5464413166046143},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5219947099685669},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5031439661979675},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4493827223777771},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.4455299973487854},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.44123491644859314},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36914584040641785},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.3477350175380707}],"concepts":[{"id":"https://openalex.org/C200336642","wikidata":"https://www.wikidata.org/wiki/Q15058706","display_name":"Point set registration","level":3,"score":0.6635284423828125},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6252830028533936},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.6184197068214417},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5602409243583679},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5464413166046143},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5219947099685669},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5031439661979675},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4493827223777771},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.4455299973487854},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.44123491644859314},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36914584040641785},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3477350175380707},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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.2017.8202267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202267","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W321648571","https://openalex.org/W1567242735","https://openalex.org/W1573751879","https://openalex.org/W1974077465","https://openalex.org/W1988874269","https://openalex.org/W1993267444","https://openalex.org/W2000836326","https://openalex.org/W2039772769","https://openalex.org/W2049633694","https://openalex.org/W2049981393","https://openalex.org/W2083624955","https://openalex.org/W2102625004","https://openalex.org/W2113240650","https://openalex.org/W2114467878","https://openalex.org/W2126105956","https://openalex.org/W2128019145","https://openalex.org/W2134236847","https://openalex.org/W2141491609","https://openalex.org/W2150190641","https://openalex.org/W2171776966","https://openalex.org/W2344109021"],"related_works":["https://openalex.org/W3204184292","https://openalex.org/W3176564347","https://openalex.org/W1985458517","https://openalex.org/W2355833770","https://openalex.org/W3031039437","https://openalex.org/W183202219","https://openalex.org/W3095877357","https://openalex.org/W2908649049","https://openalex.org/W2955958993","https://openalex.org/W2389184397"],"abstract_inverted_index":{"Point":[0],"set":[1,20,61,67,185,201,226],"registration":[2,21,62,186,202,227],"is":[3,42,68,119,131,147,159,180,204],"a":[4,17],"long":[5],"addressed":[6],"problem":[7,34,117],"in":[8,36,139,229],"lots":[9],"of":[10,26,45,56,99,156,190,213,231],"pattern":[11],"recognition":[12],"tasks.":[13],"This":[14,51],"paper":[15,52,158],"presents":[16],"robust":[18],"point":[19,38,40,49,60,66,90,184,200,225],"algorithm":[22,221],"based":[23,59],"on":[24],"optimization":[25],"distance":[27,77,146,169,179],"between":[28,47,78,88,113],"two":[29,48,80,89,114],"probability":[30,58],"distributions.":[31],"A":[32],"major":[33],"encountered":[35],"the":[37,43,54,65,79,82,97,116,120,128,142,150,165,175,183,191],"to":[39,110,122,182],"algorithms":[41,203,228],"definition":[44],"correspondence":[46],"sets.":[50],"follows":[53],"idea":[55],"some":[57,196,223],"methods":[63],"and":[64,86,124,211,236],"represented":[69],"as":[70,160],"Gaussian":[71],"Mixture":[72],"Models":[73],"(GMMs).":[74],"Through":[75],"optimizing":[76],"GMMs,":[81,115],"rigid":[83],"transformation":[84],"(rotation":[85],"translation)":[87],"sets":[91],"will":[92],"be":[93],"obtained":[94],"while":[95],"averting":[96],"trouble":[98],"finding":[100],"correspondence.":[101],"Previous":[102],"studies":[103],"used":[104,199],"L2":[105],"distance,":[106,108],"KL":[107],"etc.":[109,239],"measure":[111],"similarity":[112,152,172],"therein":[118],"robustness":[121,212],"noise":[123],"outliers,":[125,233],"especially":[126],"when":[127],"covariance":[129],"matrix":[130],"large":[132],"or":[133],"there":[134],"exists":[135],"local":[136],"minimum.":[137],"So":[138],"this":[140,157,214,220],"work,":[141],"signature":[143,166,176],"quadratic":[144,167,177],"form":[145,168,178],"derived":[148],"for":[149,170],"distribution":[151],"measurement.":[153,173],"The":[154,216],"contribution":[155],"follows.":[161],"First,":[162],"we":[163],"derive":[164],"GMMs":[171],"Second,":[174],"adopted":[181],"algorithm.":[187,215],"And":[188],"performance":[189],"proposed":[192],"method":[193],"compared":[194],"with":[195],"existing":[197],"widely":[198],"also":[205,218],"presented.":[206],"Experimental":[207],"results":[208,217],"show":[209],"precision":[210],"demonstrate":[219],"outperforms":[222],"state-of-the-art":[224],"terms":[230],"noise,":[232],"partial":[234],"structures":[235],"misalignment":[237],"initialization,":[238]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}