{"id":"https://openalex.org/W2909136769","doi":"https://doi.org/10.1109/iros.2018.8594514","title":"PCAOT: A Manhattan Point Cloud Registration Method Towards Large Rotation and Small Overlap","display_name":"PCAOT: A Manhattan Point Cloud Registration Method Towards Large Rotation and Small Overlap","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909136769","doi":"https://doi.org/10.1109/iros.2018.8594514","mag":"2909136769"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594514","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594514","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5027904523","display_name":"Ping Guo","orcid":"https://orcid.org/0000-0003-3495-688X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ping Guo","raw_affiliation_strings":["Intel Corporation, Intel Labs China, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intel Corporation, Intel Labs China, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059045087","display_name":"Wei Hu","orcid":"https://orcid.org/0000-0002-9860-0922"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei Hu","raw_affiliation_strings":["Intel Corporation, Intel Labs China, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intel Corporation, Intel Labs China, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100764066","display_name":"Haibing Ren","orcid":"https://orcid.org/0009-0002-5751-7062"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haibing Ren","raw_affiliation_strings":["Intel Corporation, Intel Labs China, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intel Corporation, Intel Labs China, Beijing, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100391587","display_name":"Yimin Zhang","orcid":"https://orcid.org/0000-0001-7673-8800"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yimin Zhang","raw_affiliation_strings":["Intel Corporation, Intel Labs China, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intel Corporation, Intel Labs China, Beijing, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7912","last_page":"7917"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9994999766349792,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9952999949455261,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.7845754623413086},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7684410810470581},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.7341932058334351},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6304707527160645},{"id":"https://openalex.org/keywords/cuboid","display_name":"Cuboid","score":0.6069021224975586},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5493454933166504},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5434577465057373},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.5194413065910339},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48965364694595337},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4559604823589325},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4427478015422821},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30005812644958496},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.27079537510871887}],"concepts":[{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.7845754623413086},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7684410810470581},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.7341932058334351},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6304707527160645},{"id":"https://openalex.org/C203527163","wikidata":"https://www.wikidata.org/wiki/Q262959","display_name":"Cuboid","level":2,"score":0.6069021224975586},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5493454933166504},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5434577465057373},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.5194413065910339},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48965364694595337},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4559604823589325},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4427478015422821},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30005812644958496},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.27079537510871887},{"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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8594514","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594514","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W192924401","https://openalex.org/W1780730131","https://openalex.org/W1883517952","https://openalex.org/W1967368660","https://openalex.org/W1989476314","https://openalex.org/W1989550683","https://openalex.org/W2016471627","https://openalex.org/W2049981393","https://openalex.org/W2097832352","https://openalex.org/W2116793329","https://openalex.org/W2119851068","https://openalex.org/W2132512702","https://openalex.org/W2144491133","https://openalex.org/W2152864241","https://openalex.org/W2160643963","https://openalex.org/W2160821342","https://openalex.org/W2492925340","https://openalex.org/W2563685048","https://openalex.org/W2738207958","https://openalex.org/W4249866455","https://openalex.org/W6654289014","https://openalex.org/W6677588156","https://openalex.org/W6683253545"],"related_works":["https://openalex.org/W2813834476","https://openalex.org/W3016861202","https://openalex.org/W4391129294","https://openalex.org/W2807666361","https://openalex.org/W2196111060","https://openalex.org/W4213431252","https://openalex.org/W4306760020","https://openalex.org/W2120071540","https://openalex.org/W2528465333","https://openalex.org/W2394285122"],"abstract_inverted_index":{"Point":[0],"cloud":[1],"registration":[2],"is":[3,23,30,35,71,94,103,128,163,171,177,183,191],"a":[4,24,60,97],"popular":[5],"research":[6],"topic":[7],"and":[8,20,54,88,100,130,135,141,156],"has":[9,39],"been":[10,41],"widely":[11],"used":[12],"in":[13,116],"many":[14],"tasks,":[15],"such":[16,47],"as":[17,48,115],"robot":[18],"mapping":[19],"localization.":[21],"It":[22,79],"challenging":[25],"problem":[26,38],"when":[27,159,179],"the":[28,33,49,75,85,89,101,107,121,154,160,168,180,188],"overlap":[29,68,90,93,108,161,181],"small,":[31],"or":[32,167,187],"rotation":[34,122,169,189],"large.":[36],"The":[37,92],"not":[40],"well":[42],"solved":[43],"by":[44,96,123],"existing":[45],"methods":[46],"iterative":[50],"closest":[51],"point":[52,113],"(ICP)":[53],"its":[55,136,157],"variants.":[56],"In":[57],"this":[58],"paper,":[59],"novel":[61],"method":[62,148],"named":[63],"principal":[64,124],"coordinate":[65],"alignment":[66],"with":[67],"tuning":[69],"(PCAOT)":[70],"proposed":[72],"based":[73],"on":[74],"Manhattan":[76],"world":[77],"assumption.":[78],"solves":[80],"two":[81],"key":[82],"problems":[83],"together,":[84],"transformation":[86,102],"estimation":[87],"estimation.":[91],"represented":[95],"3D":[98],"cuboid":[99],"computed":[104],"only":[105],"within":[106],"region.":[109],"Instead":[110],"of":[111],"finding":[112],"correspondence":[114],"traditional":[117],"methods,":[118],"we":[119],"estimate":[120],"coordinates":[125],"alignment,":[126],"which":[127],"faster":[129],"less":[131,184],"sensitive":[132],"than":[133,153,165,173,185,193],"ICP":[134,155],"variants":[137,158],"to":[138],"small":[139],"overlaps":[140],"large":[142],"rotations.":[143],"Evaluations":[144],"demonstrate":[145],"that":[146],"our":[147],"achieves":[149],"much":[150],"better":[151],"results":[152],"ratio":[162,182],"smaller":[164],"50%,":[166],"angle":[170,190],"larger":[172,192],"60\u00b0.":[174],"Especially,":[175],"it":[176],"effective":[178],"30%,":[186],"90\u00b0.":[194]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}