{"id":"https://openalex.org/W2966241579","doi":"https://doi.org/10.1109/jas.2019.1911579","title":"A correntropy-based affine iterative closest point algorithm for robust point set registration","display_name":"A correntropy-based affine iterative closest point algorithm for robust point set registration","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2966241579","doi":"https://doi.org/10.1109/jas.2019.1911579","mag":"2966241579"},"language":"en","primary_location":{"id":"doi:10.1109/jas.2019.1911579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2019.1911579","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-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/A5065815304","display_name":"Hongchen Chen","orcid":"https://orcid.org/0000-0002-9980-381X"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hongchen Chen","raw_affiliation_strings":["School of Electronic and Information Engineering, South China University of Technology, Guangzhou 510640, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, South China University of Technology, Guangzhou 510640, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102174462","display_name":"Xie Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xie Zhang","raw_affiliation_strings":["School of Electric Power, South China University of Technology, Guangzhou 510640, China"],"affiliations":[{"raw_affiliation_string":"School of Electric Power, South China University of Technology, Guangzhou 510640, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044668212","display_name":"Shaoyi Du","orcid":"https://orcid.org/0000-0002-7092-0596"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaoyi Du","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi&#x02BC an Jiaotong University, Xi&#x02BC an 710049, China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi&#x02BC an Jiaotong University, Xi&#x02BC an 710049, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053349477","display_name":"Zongze Wu","orcid":"https://orcid.org/0000-0002-2115-8670"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]},{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongze Wu","raw_affiliation_strings":["School of Electronic and Information Engineering, South China University of Technology, Guangzhou 510640, China and also with the School of Automation, Guangdong University of Technology, Guangzhou 510006, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, South China University of Technology, Guangzhou 510640, China and also with the School of Automation, Guangdong University of Technology, Guangzhou 510006, China","institution_ids":["https://openalex.org/I90610280","https://openalex.org/I139024713"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047405956","display_name":"Nanning Zheng","orcid":"https://orcid.org/0000-0003-1608-8257"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nanning Zheng","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi&#x02BC an Jiaotong University, Xi&#x02BC an 710049, China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi&#x02BC an Jiaotong University, Xi&#x02BC an 710049, China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5065815304"],"corresponding_institution_ids":["https://openalex.org/I90610280"],"apc_list":null,"apc_paid":null,"fwci":8.3308,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.97352799,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"6","issue":"4","first_page":"981","last_page":"991"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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":0.9986000061035156,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10531","display_name":"Advanced Vision and Imaging","score":0.9969000220298767,"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/affine-transformation","display_name":"Affine transformation","score":0.8088772296905518},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.8000087141990662},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.7794548273086548},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.6415190696716309},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.60310959815979},{"id":"https://openalex.org/keywords/point-set-registration","display_name":"Point set registration","score":0.580255389213562},{"id":"https://openalex.org/keywords/affine-combination","display_name":"Affine combination","score":0.5533763766288757},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.48463019728660583},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47588077187538147},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4704011380672455},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.433268278837204},{"id":"https://openalex.org/keywords/affine-shape-adaptation","display_name":"Affine shape adaptation","score":0.43200206756591797},{"id":"https://openalex.org/keywords/affine-hull","display_name":"Affine hull","score":0.4182446002960205},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41364970803260803},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.3953879177570343},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3307548761367798},{"id":"https://openalex.org/keywords/affine-space","display_name":"Affine space","score":0.2446034550666809},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.18391677737236023},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.16313117742538452}],"concepts":[{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.8088772296905518},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.8000087141990662},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.7794548273086548},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.6415190696716309},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.60310959815979},{"id":"https://openalex.org/C200336642","wikidata":"https://www.wikidata.org/wiki/Q15058706","display_name":"Point set registration","level":3,"score":0.580255389213562},{"id":"https://openalex.org/C207221997","wikidata":"https://www.wikidata.org/wiki/Q938614","display_name":"Affine combination","level":3,"score":0.5533763766288757},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.48463019728660583},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47588077187538147},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4704011380672455},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.433268278837204},{"id":"https://openalex.org/C18516315","wikidata":"https://www.wikidata.org/wiki/Q4688950","display_name":"Affine shape adaptation","level":4,"score":0.43200206756591797},{"id":"https://openalex.org/C112128483","wikidata":"https://www.wikidata.org/wiki/Q382504","display_name":"Affine hull","level":4,"score":0.4182446002960205},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41364970803260803},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3953879177570343},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3307548761367798},{"id":"https://openalex.org/C173110770","wikidata":"https://www.wikidata.org/wiki/Q382698","display_name":"Affine space","level":3,"score":0.2446034550666809},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.18391677737236023},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.16313117742538452},{"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/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},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jas.2019.1911579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2019.1911579","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1573483041","https://openalex.org/W1701760339","https://openalex.org/W1758799351","https://openalex.org/W1913486624","https://openalex.org/W1971517213","https://openalex.org/W1976080191","https://openalex.org/W1980907873","https://openalex.org/W2003612343","https://openalex.org/W2008775992","https://openalex.org/W2019034316","https://openalex.org/W2049981393","https://openalex.org/W2063549868","https://openalex.org/W2068078373","https://openalex.org/W2070339004","https://openalex.org/W2071079189","https://openalex.org/W2075275264","https://openalex.org/W2085132317","https://openalex.org/W2093886878","https://openalex.org/W2095759113","https://openalex.org/W2101149304","https://openalex.org/W2106404777","https://openalex.org/W2109064983","https://openalex.org/W2113713615","https://openalex.org/W2114467878","https://openalex.org/W2118104180","https://openalex.org/W2134236847","https://openalex.org/W2135160607","https://openalex.org/W2137596640","https://openalex.org/W2150190641","https://openalex.org/W2153504150","https://openalex.org/W2161001676","https://openalex.org/W2161035581","https://openalex.org/W2161116336","https://openalex.org/W2293932721","https://openalex.org/W2463258885","https://openalex.org/W2750382558","https://openalex.org/W2752880541","https://openalex.org/W2770746583","https://openalex.org/W3024853581"],"related_works":["https://openalex.org/W2180439206","https://openalex.org/W2773810497","https://openalex.org/W2418222231","https://openalex.org/W2163808362","https://openalex.org/W1988402223","https://openalex.org/W2114065690","https://openalex.org/W2966241579","https://openalex.org/W4206604957","https://openalex.org/W2564310741","https://openalex.org/W2555204372"],"abstract_inverted_index":{"The":[0],"iterative":[1],"closest":[2],"point":[3,16,25,56,115,176],"(ICP)":[4],"algorithm":[5,44,145,166],"has":[6,27],"the":[7,24,52,63,83,89,110,119,125,129,134,140,158],"advantages":[8],"of":[9,31,55,66,85,103,113,128,163],"high":[10,161],"accuracy":[11],"and":[12,122,160,174],"fast":[13],"speed":[14],"for":[15,152],"set":[17,26,108,177],"registration,":[18],"but":[19],"it":[20],"performs":[21],"poorly":[22],"when":[23],"a":[28,40,70,76,95,148],"large":[29],"number":[30],"noisy":[32],"outliers.":[33,59,86],"To":[34,87],"solve":[35],"this":[36,104],"problem,":[37],"we":[38,61,92,107],"propose":[39,94],"new":[41,77,105,130],"affine":[42,53,97,164],"registration":[43,54,78,178],"based":[45,167],"on":[46,168],"correntropy":[47,72,169],"which":[48,80],"works":[49],"well":[50],"in":[51],"sets":[57,116],"with":[58,69],"Firstly,":[60],"substitute":[62],"traditional":[64,141],"measure":[65],"least":[67],"squares":[68],"maximum":[71,150],"criterion":[73],"to":[74,118,133,139,147],"build":[75],"model,":[79],"can":[81],"avoid":[82],"influence":[84],"maximize":[88],"objective":[90],"function,":[91],"then":[93,123],"robust":[96],"ICP":[98,142,165],"algorithm.":[99],"At":[100],"each":[101],"iteration":[102],"algorithm,":[106,143],"up":[109],"index":[111,136],"mapping":[112],"two":[114],"according":[117,132],"known":[120,135],"transformation,":[121],"compute":[124],"closed-form":[126],"solution":[127],"transformation":[131],"mapping.":[137],"Similar":[138],"our":[144],"converges":[146],"local":[149],"monotonously":[151],"any":[153],"given":[154],"initial":[155],"value.":[156],"Finally,":[157],"robustness":[159],"efficiency":[162],"are":[170],"demonstrated":[171],"by":[172],"2D":[173],"3D":[175],"experiments.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}