{"id":"https://openalex.org/W2588091121","doi":"https://doi.org/10.1109/lra.2017.2667721","title":"3DHoPD: A Fast Low-Dimensional 3-D Descriptor","display_name":"3DHoPD: A Fast Low-Dimensional 3-D Descriptor","publication_year":2017,"publication_date":"2017-02-13","ids":{"openalex":"https://openalex.org/W2588091121","doi":"https://doi.org/10.1109/lra.2017.2667721","mag":"2588091121"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2667721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2667721","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/A5023441239","display_name":"Sai Manoj Prakhya","orcid":"https://orcid.org/0000-0001-7302-9865"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Sai Manoj Prakhya","raw_affiliation_strings":["School of Computer Science and Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030005076","display_name":"Jie Lin","orcid":"https://orcid.org/0000-0002-8971-0660"},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]},{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jie Lin","raw_affiliation_strings":["Institute for Infocomm Research, A*STAR, Singapore"],"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research, A*STAR, Singapore","institution_ids":["https://openalex.org/I3005327000","https://openalex.org/I115228651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103502228","display_name":"Vijay Chandrasekhar","orcid":null},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Vijay Chandrasekhar","raw_affiliation_strings":["Institute for Infocomm Research, A*STAR, Singapore"],"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research, A*STAR, Singapore","institution_ids":["https://openalex.org/I3005327000","https://openalex.org/I115228651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100403129","display_name":"Weisi Lin","orcid":"https://orcid.org/0000-0001-9866-1947"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Weisi Lin","raw_affiliation_strings":["School of Computer Science and Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005698588","display_name":"Bingbing Liu","orcid":"https://orcid.org/0000-0002-5272-3425"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Bingbing Liu","raw_affiliation_strings":["Institute for Infocomm Research, A*STAR, Singapore"],"affiliations":[{"raw_affiliation_string":"Institute for Infocomm Research, A*STAR, Singapore","institution_ids":["https://openalex.org/I3005327000","https://openalex.org/I115228651"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5023441239"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":4.3551,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.9352388,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"2","issue":"3","first_page":"1472","last_page":"1479"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9962999820709229,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4114637076854706},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3213890790939331}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4114637076854706},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3213890790939331}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2017.2667721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2667721","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320766","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302"},{"id":"https://openalex.org/F4320334744","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1521366206","https://openalex.org/W1564871316","https://openalex.org/W1595577343","https://openalex.org/W1601609822","https://openalex.org/W1972485825","https://openalex.org/W1981760881","https://openalex.org/W1983670955","https://openalex.org/W1989625560","https://openalex.org/W2007200979","https://openalex.org/W2024039087","https://openalex.org/W2043863462","https://openalex.org/W2067956279","https://openalex.org/W2069479606","https://openalex.org/W2098764590","https://openalex.org/W2099606917","https://openalex.org/W2115435222","https://openalex.org/W2130558599","https://openalex.org/W2133098875","https://openalex.org/W2151103935","https://openalex.org/W2151148091","https://openalex.org/W2152864241","https://openalex.org/W2160821342","https://openalex.org/W2172912180","https://openalex.org/W2177274842","https://openalex.org/W2782123177","https://openalex.org/W3101921002","https://openalex.org/W6634014874","https://openalex.org/W6677105347","https://openalex.org/W6747737543"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Three-dimensional":[0],"feature":[1,51,112],"descriptors":[2,178],"are":[3,198],"heavily":[4],"employed":[5],"in":[6,41,62,121],"various":[7],"3-D":[8,50,75,83,124,177],"perception":[9],"applications":[10,31],"to":[11,32,57,72,88,99,128,163,173],"find":[12],"keypoint":[13,67,119,170],"correspondences":[14],"between":[15],"two":[16],"point":[17,96],"clouds.":[18],"The":[19,59,191],"availability":[20],"of":[21,95],"mobile":[22],"devices":[23],"equipped":[24],"with":[25,179],"depth":[26],"sensors":[27],"compels":[28],"the":[29,65,78,101,117,122,135,142,148,174],"developed":[30],"be":[33],"both":[34],"memory":[35],"and":[36,140,165,168,194],"computationally":[37],"efficient.":[38],"Toward":[39],"this,":[40],"this":[42],"letter,":[43],"we":[44,92],"present":[45],"3DHoPD,":[46],"a":[47,73,110],"new":[48,74,123],"low-dimensional":[49],"descriptor":[52,113],"that":[53,159],"is":[54,126,145,161],"extremely":[55],"fast":[56],"compute.":[58],"novelty":[60],"lies":[61],"compactly":[63],"encoding":[64],"\u201c3-D\u201d":[66,118],"position":[68,120],"by":[69,138],"transforming":[70],"it":[71],"space,":[76],"where":[77],"keypoints":[79],"arising":[80],"from":[81],"similar":[82,180],"surface":[84],"patches":[85],"lie":[86],"close":[87],"each":[89],"other.":[90],"Then,":[91],"propose":[93,109],"histograms":[94],"distributions":[97],"(HoPD)":[98],"capture":[100],"neighborhood":[102],"structure,":[103],"thus":[104],"forming":[105],"3DHoPD":[106,160],"(3D+HoPD).":[107],"We":[108],"tailored":[111],"matching":[114,171],"technique,":[115],"wherein":[116],"space":[125,137],"used":[127],"remove":[129],"false":[130],"positive":[131],"matches,":[132],"effectively":[133],"reducing":[134],"search":[136],"90%,":[139],"then,":[141],"exact":[143],"match":[144],"found":[146],"using":[147],"\u201cHoPD\u201d":[149],"descriptor.":[150],"Experimental":[151],"evaluation":[152],"on":[153],"multiple":[154],"publicly":[155],"available":[156,199],"datasets":[157],"shows":[158],"robust":[162],"noise":[164],"offers":[166],"stable":[167],"competitive":[169],"performance":[172],"existing":[175],"state-of-the-art":[176],"dimensionality":[181],"across":[182],"datasets,":[183],"while":[184],"requiring":[185],"dramatically":[186],"low-computational":[187],"time":[188],"(10\u00d7":[189],"faster).":[190],"source":[192],"code":[193],"additional":[195],"experimental":[196],"results":[197],"at":[200],"https://sites.google.com/site/3dhopd/.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
