{"id":"https://openalex.org/W2888947940","doi":"https://doi.org/10.1109/lra.2018.2867856","title":"Denoising Autoencoders for Laser-Based Scan Registration","display_name":"Denoising Autoencoders for Laser-Based Scan Registration","publication_year":2018,"publication_date":"2018-08-30","ids":{"openalex":"https://openalex.org/W2888947940","doi":"https://doi.org/10.1109/lra.2018.2867856","mag":"2888947940"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2867856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2867856","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5046203786","display_name":"Austin Nicolai","orcid":"https://orcid.org/0000-0003-4535-3283"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Austin Nicolai","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA"],"raw_orcid":"https://orcid.org/0000-0003-4535-3283","affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023976625","display_name":"Geoffrey A. Hollinger","orcid":"https://orcid.org/0000-0001-6502-8950"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Geoffrey A. Hollinger","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA"],"raw_orcid":"https://orcid.org/0000-0001-6502-8950","affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I131249849"],"apc_list":null,"apc_paid":null,"fwci":0.3649,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.62473692,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"3","issue":"4","first_page":"4391","last_page":"4398"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9983000159263611,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.746696412563324},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7233787178993225},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.6696847081184387},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6093556880950928},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49381622672080994},{"id":"https://openalex.org/keywords/noise-reduction","display_name":"Noise reduction","score":0.47282564640045166},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4417797923088074},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4331554174423218},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.42992621660232544},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.41535478830337524},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4120079278945923},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.3797588348388672},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.17372173070907593},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16251307725906372},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10957971215248108}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.746696412563324},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7233787178993225},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.6696847081184387},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6093556880950928},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49381622672080994},{"id":"https://openalex.org/C163294075","wikidata":"https://www.wikidata.org/wiki/Q581861","display_name":"Noise reduction","level":2,"score":0.47282564640045166},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4417797923088074},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4331554174423218},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.42992621660232544},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.41535478830337524},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4120079278945923},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.3797588348388672},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.17372173070907593},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16251307725906372},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10957971215248108},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2867856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2867856","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[],"awards":[{"id":"https://openalex.org/G8441814016","display_name":"TYPECASTING AGENTS FOR MANAGING HUMAN-SYSTEM INTERACTIONS IN THE NAS AS THE NUMBER OF AIRCRAFT IN THE NATIONAL AIRSPACE SYSTEM INCREASES OVER THE COM","funder_award_id":"NNX14AI10G","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320309652","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W87590009","https://openalex.org/W603908379","https://openalex.org/W1493004075","https://openalex.org/W1522301498","https://openalex.org/W1686810756","https://openalex.org/W1883517952","https://openalex.org/W1895577753","https://openalex.org/W2025768430","https://openalex.org/W2049981393","https://openalex.org/W2063549868","https://openalex.org/W2070571667","https://openalex.org/W2095705004","https://openalex.org/W2096020743","https://openalex.org/W2108598243","https://openalex.org/W2110764733","https://openalex.org/W2115579991","https://openalex.org/W2124313187","https://openalex.org/W2134557905","https://openalex.org/W2146370447","https://openalex.org/W2149548695","https://openalex.org/W2163605009","https://openalex.org/W2200124539","https://openalex.org/W2277034229","https://openalex.org/W2277848489","https://openalex.org/W2284646714","https://openalex.org/W2296228853","https://openalex.org/W2335829695","https://openalex.org/W2400202024","https://openalex.org/W2489710028","https://openalex.org/W2518549183","https://openalex.org/W2726649046","https://openalex.org/W2963083779","https://openalex.org/W3118608800","https://openalex.org/W6618372016","https://openalex.org/W6629436950","https://openalex.org/W6631190155","https://openalex.org/W6637373629","https://openalex.org/W6639519299","https://openalex.org/W6639657675","https://openalex.org/W6657028776","https://openalex.org/W6674759713","https://openalex.org/W6676297131","https://openalex.org/W6679806934","https://openalex.org/W6681972611","https://openalex.org/W6682260209","https://openalex.org/W6684191040","https://openalex.org/W6687522706","https://openalex.org/W6694956933","https://openalex.org/W6696313205","https://openalex.org/W6697304529","https://openalex.org/W6697503656","https://openalex.org/W6712738827","https://openalex.org/W6722453979","https://openalex.org/W6726861192","https://openalex.org/W6787972765","https://openalex.org/W6817117944"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W2813834476","https://openalex.org/W3016861202","https://openalex.org/W4391129294","https://openalex.org/W2807666361","https://openalex.org/W2196111060","https://openalex.org/W4213431252","https://openalex.org/W4306760020","https://openalex.org/W2120071540"],"abstract_inverted_index":{"In":[0,61],"this":[1],"letter,":[2],"we":[3],"build":[4],"on":[5,107,142,171,202],"recent":[6],"advances":[7],"in":[8,20,114],"deep":[9],"learning":[10],"to":[11,29,80,111],"improve":[12],"SE(3)":[13],"transformations,":[14],"enabling":[15],"more":[16],"accurate":[17],"motion":[18,59,113],"estimation":[19],"mobile":[21],"robots.":[22],"We":[23,116,149],"propose":[24],"using":[25,123],"denoising":[26],"autoencoders":[27],"(DAEs)":[28],"address":[30],"the":[31,62,92,108,118,124,128,146,161,176,182,190],"challenges":[32],"presented":[33],"by":[34,173,197],"modern":[35],"LIDARs.":[36],"Our":[37],"proposed":[38],"approach":[39,122,153],"is":[40,78,96,105,157,186],"comprised":[41],"of":[42,120,130,159,164,188,193,200],"two":[43],"stages:":[44],"a":[45,54,70,76,89,198],"novel":[46],"pre-processing":[47,63],"stage":[48,57],"for":[49,58,91,175,181],"robust":[50],"feature":[51],"identification":[52],"and":[53,75,136,139,179,185],"scan":[55],"matching":[56,104],"estimation.":[60],"stage,":[64],"LIDAR":[65,137,143],"data":[66,110,126,144],"are":[67,86],"projected":[68],"into":[69,99],"two-dimensional":[71],"(2-D)":[72],"image":[73],"format":[74],"DAE":[77],"used":[79,87],"extract":[81],"salient":[82],"features.":[83],"These":[84],"features":[85],"as":[88],"mask":[90],"original":[93],"data,":[94],"which":[95],"then":[97],"re-projected":[98,109],"full":[100],"3-D":[101],"space.":[102],"Scan":[103],"performed":[106],"estimate":[112],"SE(3).":[115],"analyze":[117],"performance":[119],"our":[121,152],"real-world":[125],"from":[127,145],"University":[129],"Michigan":[131],"North":[132],"Campus":[133],"long-term":[134],"vision":[135],"dataset":[138],"test":[140],"generalization":[141],"KITTI":[147],"dataset.":[148],"show":[150],"that":[151],"generalizes":[154],"across":[155],"domains,":[156],"capable":[158,187],"reducing":[160,189],"per-estimate":[162],"error":[163],"standard":[165],"iterative":[166],"closest":[167],"point":[168],"(ICP)":[169],"methods":[170,196],"average":[172,203],"25.5%":[174],"translational":[177],"component":[178],"57.53%":[180],"rotational":[183],"component,":[184],"computation":[191],"time":[192],"state-of-the-art":[194],"ICP":[195],"factor":[199],"7.94":[201],"while":[204],"achieving":[205],"competitive":[206],"performance.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
