{"id":"https://openalex.org/W4200429968","doi":"https://doi.org/10.1109/iros51168.2021.9636600","title":"Hybrid ICP","display_name":"Hybrid ICP","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200429968","doi":"https://doi.org/10.1109/iros51168.2021.9636600"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636600","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636600","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5059416497","display_name":"Kamil Dreczkowski","orcid":"https://orcid.org/0000-0001-8278-6550"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kamil Dreczkowski","raw_affiliation_strings":["The Robot Learning Lab, Imperial College London"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robot Learning Lab, Imperial College London","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080385974","display_name":"Edward Johns","orcid":"https://orcid.org/0000-0002-8914-8786"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Edward Johns","raw_affiliation_strings":["The Robot Learning Lab, Imperial College London"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robot Learning Lab, Imperial College London","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":1.126,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.75842779,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6801","last_page":"6808"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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":0.9991000294685364,"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/T10868","display_name":"Soft Robotics and Applications","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"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/metric","display_name":"Metric (unit)","score":0.6811520457267761},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6588010787963867},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5559744238853455},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4281649887561798},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3800394535064697},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3502742052078247},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1729736626148224}],"concepts":[{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6811520457267761},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6588010787963867},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5559744238853455},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4281649887561798},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3800394535064697},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3502742052078247},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1729736626148224},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636600","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636600","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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":24,"referenced_works":["https://openalex.org/W1508960934","https://openalex.org/W1603720607","https://openalex.org/W1883517952","https://openalex.org/W1901129140","https://openalex.org/W1987648924","https://openalex.org/W2009422376","https://openalex.org/W2049981393","https://openalex.org/W2061010610","https://openalex.org/W2071992612","https://openalex.org/W2119851068","https://openalex.org/W2143924340","https://openalex.org/W2155653863","https://openalex.org/W2574567538","https://openalex.org/W2966015075","https://openalex.org/W3009516594","https://openalex.org/W3061410621","https://openalex.org/W3092774272","https://openalex.org/W3128632815","https://openalex.org/W3183526037","https://openalex.org/W3207359859","https://openalex.org/W4249866455","https://openalex.org/W4394671432","https://openalex.org/W6687484953","https://openalex.org/W6783503000"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2772917594","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398","https://openalex.org/W2775347418"],"abstract_inverted_index":{"ICP":[0,29,53,65,78,86,104,110],"algorithms":[1],"typically":[2],"involve":[3],"a":[4,12,25,91,114],"fixed":[5,13,115],"choice":[6,14],"of":[7,15,47,102,109,117],"data":[8,36],"association":[9,37],"method":[10,38],"and":[11,27,39,50,69,94,106],"error":[16,40],"metric.":[17],"In":[18],"this":[19],"paper,":[20],"we":[21,95],"propose":[22],"Hybrid":[23,64],"ICP,":[24],"novel":[26],"flexible":[28],"variant":[30],"which":[31],"dynamically":[32],"optimises":[33],"both":[34],"the":[35,44,51,83,97,100,107],"metric":[41],"based":[42],"on":[43],"live":[45],"image":[46],"an":[48],"object":[49,61],"current":[52],"estimate.":[54],"We":[55,80],"show":[56],"that":[57],"when":[58],"used":[59,77],"for":[60],"pose":[62],"estimation,":[63],"is":[66,87],"more":[67,70],"accurate":[68],"robust":[71],"to":[72],"noise":[73],"than":[74],"other":[75],"commonly":[76],"variants.":[79],"also":[81],"consider":[82],"setting":[84],"where":[85],"applied":[88],"sequentially":[89],"with":[90],"moving":[92],"camera,":[93],"study":[96],"trade-off":[98],"between":[99],"accuracy":[101],"each":[103],"estimate":[105],"number":[108],"estimates":[111],"available":[112],"within":[113],"amount":[116],"time.":[118]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2021-12-31T00:00:00"}
