{"id":"https://openalex.org/W4416748589","doi":"https://doi.org/10.1109/iros60139.2025.11247419","title":"Fast(er) Robust Point Cloud Alignment Using Lie Algebra","display_name":"Fast(er) Robust Point Cloud Alignment Using Lie Algebra","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748589","doi":"https://doi.org/10.1109/iros60139.2025.11247419"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247419","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247419","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5035370089","display_name":"Jean-Thomas Sexton","orcid":null},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jean-Thomas Sexton","raw_affiliation_strings":["Université Laval,Department of Computer Science and Software Engineering,Québec,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université Laval,Department of Computer Science and Software Engineering,Québec,Canada","institution_ids":["https://openalex.org/I43406934"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074193108","display_name":"Michael Morin","orcid":"https://orcid.org/0000-0002-1008-4303"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Morin","raw_affiliation_strings":["Université Laval,Department of Operations and Decision Systems,Québec,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université Laval,Department of Operations and Decision Systems,Québec,Canada","institution_ids":["https://openalex.org/I4210143601"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032902130","display_name":"Philippe Gigu\u00e8re","orcid":"https://orcid.org/0000-0002-7520-8290"},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Philippe Gigu\u00e8re","raw_affiliation_strings":["Université Laval,Department of Computer Science and Software Engineering,Québec,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université Laval,Department of Computer Science and Software Engineering,Québec,Canada","institution_ids":["https://openalex.org/I43406934"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083689259","display_name":"Jonathan Gaudreault","orcid":"https://orcid.org/0000-0001-5493-8836"},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jonathan Gaudreault","raw_affiliation_strings":["Université Laval,Department of Computer Science and Software Engineering,Québec,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université Laval,Department of Computer Science and Software Engineering,Québec,Canada","institution_ids":["https://openalex.org/I43406934"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.50294039,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10734","last_page":"10740"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9208999872207642,"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"}},"topics":[{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9208999872207642,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.0066999997943639755,"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/T11115","display_name":"Topology Optimization in Engineering","score":0.004600000102072954,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/computation","display_name":"Computation","score":0.5860999822616577},{"id":"https://openalex.org/keywords/algebra-over-a-field","display_name":"Algebra over a field","score":0.484499990940094},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.45969998836517334},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4514000117778778},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4507000148296356},{"id":"https://openalex.org/keywords/iteratively-reweighted-least-squares","display_name":"Iteratively reweighted least squares","score":0.4447999894618988},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.40869998931884766},{"id":"https://openalex.org/keywords/least-squares-function-approximation","display_name":"Least-squares function approximation","score":0.38920000195503235}],"concepts":[{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5860999822616577},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5220000147819519},{"id":"https://openalex.org/C136119220","wikidata":"https://www.wikidata.org/wiki/Q1000660","display_name":"Algebra over a field","level":2,"score":0.484499990940094},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4634999930858612},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.45969998836517334},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4514000117778778},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4507000148296356},{"id":"https://openalex.org/C126090379","wikidata":"https://www.wikidata.org/wiki/Q6094424","display_name":"Iteratively reweighted least squares","level":4,"score":0.4447999894618988},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.42100000381469727},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.40869998931884766},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.38920000195503235},{"id":"https://openalex.org/C51568863","wikidata":"https://www.wikidata.org/wiki/Q664495","display_name":"Lie algebra","level":2,"score":0.385699987411499},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3666999936103821},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.3589000105857849},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.31220000982284546},{"id":"https://openalex.org/C139352143","wikidata":"https://www.wikidata.org/wiki/Q82571","display_name":"Linear algebra","level":2,"score":0.30959999561309814},{"id":"https://openalex.org/C2988995629","wikidata":"https://www.wikidata.org/wiki/Q2915729","display_name":"Matrix algebra","level":3,"score":0.3043000102043152},{"id":"https://openalex.org/C9357733","wikidata":"https://www.wikidata.org/wiki/Q6878417","display_name":"Missing data","level":2,"score":0.3009999990463257},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2842000126838684},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.2840000092983246},{"id":"https://openalex.org/C56372850","wikidata":"https://www.wikidata.org/wiki/Q1050404","display_name":"Sparse matrix","level":3,"score":0.27129998803138733},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2712000012397766},{"id":"https://openalex.org/C110812573","wikidata":"https://www.wikidata.org/wiki/Q175515","display_name":"Symbolic computation","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.2612000107765198},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25870001316070557}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247419","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247419","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":10,"referenced_works":["https://openalex.org/W19375919","https://openalex.org/W1564897360","https://openalex.org/W1966790179","https://openalex.org/W2028496557","https://openalex.org/W2130071206","https://openalex.org/W2271206385","https://openalex.org/W2967205338","https://openalex.org/W4250587099","https://openalex.org/W4320800818","https://openalex.org/W4390719155"],"related_works":[],"abstract_inverted_index":{"We":[0,19],"present":[1],"a":[2,26],"novel":[3],"Lie":[4],"algebra":[5],"based":[6],"Iterative":[7],"Reweighted":[8],"Least":[9],"Squares":[10],"(IRLS)":[11],"algorithm":[12],"for":[13,51,91],"robust":[14],"3D":[15],"point":[16],"cloud":[17],"alignment.":[18],"reformulate":[20],"the":[21,35,43,70],"optimal":[22],"update":[23],"computation":[24],"to":[25],"compact":[27],"form":[28],"which":[29],"requires":[30],"only":[31],"one":[32],"pass":[33],"through":[34],"data.":[36],"Although":[37],"this":[38],"reformulation":[39],"does":[40],"not":[41],"alter":[42],"asymptotic":[44],"computational":[45],"complexity,":[46],"it":[47,87],"is":[48,72,88],"well":[49,89],"suited":[50,90],"contemporary":[52],"hardware":[53],"architectures,":[54],"yielding":[55],"significant":[56],"practical":[57],"speedups.":[58],"In":[59],"extensive":[60],"experiments":[61],"on":[62],"challenging":[63],"benchmark":[64],"datasets":[65],"with":[66],"added":[67],"correspondence":[68],"corruption,":[69],"method":[71],"consistently":[73],"at":[74],"least":[75],"four":[76],"times":[77],"faster":[78],"than":[79],"previous":[80],"literature":[81],"whilst":[82],"being":[83],"mathematically":[84],"equivalent,":[85],"demonstrating":[86],"time-critical":[92],"applications.":[93]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-28T00:00:00"}