{"id":"https://openalex.org/W4405786674","doi":"https://doi.org/10.1109/iros58592.2024.10802262","title":"SGNet: Salient Geometric Network for Point Cloud Registration","display_name":"SGNet: Salient Geometric Network for Point Cloud Registration","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786674","doi":"https://doi.org/10.1109/iros58592.2024.10802262"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802262","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802262","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5075199043","display_name":"Qianliang Wu","orcid":"https://orcid.org/0000-0001-6592-021X"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianliang Wu","raw_affiliation_strings":["Nanjing University of Science and Technology,Jiangsu Key Lab of Image and Video Understanding for Social Security, School of Computer Science and Engineering,PCA Lab, Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Science and Technology,Jiangsu Key Lab of Image and Video Understanding for Social Security, School of Computer Science and Engineering,PCA Lab, Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102999250","display_name":"Yaqing Ding","orcid":"https://orcid.org/0000-0002-7448-6686"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Yaqing Ding","raw_affiliation_strings":["Czech Technical University in Prague,Visual Recognition Group, Faculty of Electrical Engineering,Prague,Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague,Visual Recognition Group, Faculty of Electrical Engineering,Prague,Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100372684","display_name":"Lei Luo","orcid":"https://orcid.org/0000-0002-3203-1341"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Luo","raw_affiliation_strings":["Nanjing University of Science and Technology,Jiangsu Key Lab of Image and Video Understanding for Social Security, School of Computer Science and Engineering,PCA Lab, Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Science and Technology,Jiangsu Key Lab of Image and Video Understanding for Social Security, School of Computer Science and Engineering,PCA Lab, Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051412865","display_name":"Haobo Jiang","orcid":"https://orcid.org/0000-0003-1357-1315"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haobo Jiang","raw_affiliation_strings":["Nanjing University of Science and Technology,Jiangsu Key Lab of Image and Video Understanding for Social Security, School of Computer Science and Engineering,PCA Lab, Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Science and Technology,Jiangsu Key Lab of Image and Video Understanding for Social Security, School of Computer Science and Engineering,PCA Lab, Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060609514","display_name":"Shuo Gu","orcid":"https://orcid.org/0000-0002-4511-0815"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Gu","raw_affiliation_strings":["Nanjing University of Science and Technology,Jiangsu Key Lab of Image and Video Understanding for Social Security, School of Computer Science and Engineering,PCA Lab, Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Science and Technology,Jiangsu Key Lab of Image and Video Understanding for Social Security, School of Computer Science and Engineering,PCA Lab, Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047836867","display_name":"Chuanwei Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuanwei Zhou","raw_affiliation_strings":["Nanjing University of Science and Technology,Jiangsu Key Lab of Image and Video Understanding for Social Security, School of Computer Science and Engineering,PCA Lab, Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Science and Technology,Jiangsu Key Lab of Image and Video Understanding for Social Security, School of Computer Science and Engineering,PCA Lab, Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079434039","display_name":"Jin Xie","orcid":"https://orcid.org/0000-0002-9157-838X"},"institutions":[{"id":"https://openalex.org/I881766915","display_name":"Nanjing University","ror":"https://ror.org/01rxvg760","country_code":"CN","type":"education","lineage":["https://openalex.org/I881766915"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Xie","raw_affiliation_strings":["Nanjing University,State Key Laboratory for Novel Software Technology,Nanjing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University,State Key Laboratory for Novel Software Technology,Nanjing,China","institution_ids":["https://openalex.org/I881766915"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100726984","display_name":"Jian Yang","orcid":"https://orcid.org/0000-0003-4800-832X"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Yang","raw_affiliation_strings":["Nanjing University of Science and Technology,Jiangsu Key Lab of Image and Video Understanding for Social Security, School of Computer Science and Engineering,PCA Lab, Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Science and Technology,Jiangsu Key Lab of Image and Video Understanding for Social Security, School of Computer Science and Engineering,PCA Lab, Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education","institution_ids":["https://openalex.org/I36399199"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4568,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.86720399,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3276","last_page":"3282"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9943000078201294,"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"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9943000078201294,"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":0.9939000010490417,"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"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9833999872207642,"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/point-cloud","display_name":"Point cloud","score":0.7079890370368958},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6388341784477234},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.597149133682251},{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.5834634304046631},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4327646493911743},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4215150773525238},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4122897982597351},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14306849241256714},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14106711745262146}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7079890370368958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6388341784477234},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.597149133682251},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.5834634304046631},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4327646493911743},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4215150773525238},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4122897982597351},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14306849241256714},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14106711745262146},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802262","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802262","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1989625560","https://openalex.org/W1998840160","https://openalex.org/W2049981393","https://openalex.org/W2111308925","https://openalex.org/W2115579991","https://openalex.org/W2151103935","https://openalex.org/W2566265240","https://openalex.org/W2883357174","https://openalex.org/W2981556384","https://openalex.org/W2981995220","https://openalex.org/W2990613095","https://openalex.org/W3034295752","https://openalex.org/W3034675048","https://openalex.org/W3035030518","https://openalex.org/W3158091578","https://openalex.org/W3167684723","https://openalex.org/W3176124701","https://openalex.org/W3177280664","https://openalex.org/W3185902918","https://openalex.org/W3216353509","https://openalex.org/W4226373316","https://openalex.org/W4312516208","https://openalex.org/W4385245566","https://openalex.org/W4386076224","https://openalex.org/W4390533816","https://openalex.org/W6802758728"],"related_works":["https://openalex.org/W2329500892","https://openalex.org/W4244478748","https://openalex.org/W28991112","https://openalex.org/W2370726991","https://openalex.org/W3150465815","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W1997222214","https://openalex.org/W2560439919"],"abstract_inverted_index":{"Point":[0],"Cloud":[1],"Registration":[2],"(PCR)":[3],"is":[4,22],"a":[5,74,85,112,222],"critical":[6,228],"and":[7,13,25,32,58,92,136,219,239],"challenging":[8],"task":[9],"in":[10,20,105,140],"computer":[11],"vision":[12],"robotics.":[14],"One":[15],"of":[16,61,206,245],"the":[17,48,54,59,131,141,237,243],"primary":[18],"difficulties":[19],"PCR":[21],"identifying":[23,160],"salient":[24,124,133,161,207],"meaningful":[26,137],"points":[27,135,139,162,218],"that":[28,77,89,116,149],"exhibit":[29],"consistent":[30],"semantic":[31,94],"geometric":[33,66,87,153,171,204],"properties":[34],"across":[35],"different":[36],"scans.":[37],"Previous":[38],"methods":[39],"have":[40],"encountered":[41],"challenges":[42],"with":[43],"ambiguous":[44],"matching":[45,224],"due":[46],"to":[47,122,129,180,216,226],"similarity":[49],"among":[50],"patch":[51],"blocks":[52],"throughout":[53],"entire":[55],"point":[56],"cloud":[57],"lack":[60],"consideration":[62],"for":[63,159,230],"efficient":[64],"global":[65,169],"consistency.":[67,172],"To":[68],"address":[69],"these":[70,196],"issues,":[71],"we":[72,83,110,144,199],"propose":[73],"new":[75],"framework":[76],"includes":[78],"several":[79],"novel":[80],"techniques.":[81],"Firstly,":[82],"introduce":[84,145,174],"semantic-aware":[86],"encoder":[88,97],"combines":[90],"object-level":[91],"patch-level":[93,106],"information.":[95],"This":[96,126],"significantly":[98],"improves":[99],"registration":[100],"recall":[101],"by":[102,221],"reducing":[103],"ambiguity":[104],"superpoint":[107],"matching.":[108],"Additionally,":[109],"incorporate":[111],"prior":[113],"knowledge":[114],"approach":[115],"utilizes":[117],"an":[118,146,175],"intrinsic":[119],"shape":[120],"signature":[121],"identify":[123,227],"points.":[125,209],"enables":[127],"us":[128],"extract":[130],"most":[132],"super":[134,208],"dense":[138,217],"scene.":[142],"Secondly,":[143],"innovative":[147],"transformer":[148,184],"encodes":[150],"High-Order":[151],"(HO)":[152],"features.":[154],"These":[155,210],"features":[156,193,205,212],"are":[157,213],"crucial":[158],"within":[163],"initial":[164],"overlap":[165],"regions":[166],"while":[167],"considering":[168],"high-order":[170,183,203,211],"We":[173],"anchor":[176,197],"node":[177],"selection":[178],"strategy":[179],"optimize":[181],"this":[182],"further.":[185],"By":[186],"encoding":[187],"inter-frame":[188],"triangle":[189],"or":[190],"polyhedron":[191],"consistency":[192],"based":[194],"on":[195,236],"nodes,":[198],"can":[200],"effectively":[201],"learn":[202],"then":[214],"propagated":[215],"utilized":[220],"Sinkhorn":[223],"module":[225],"correspondences":[229],"successful":[231],"registration.":[232],"The":[233],"experiments":[234],"conducted":[235],"3DMatch/3DLoMatch":[238],"KITTI":[240],"datasets":[241],"demonstrate":[242],"effectiveness":[244],"our":[246],"method.":[247]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
