{"id":"https://openalex.org/W2999751264","doi":"https://doi.org/10.1109/lra.2020.2965391","title":"A New Approach to 3D ICP Covariance Estimation","display_name":"A New Approach to 3D ICP Covariance Estimation","publication_year":2020,"publication_date":"2020-01-09","ids":{"openalex":"https://openalex.org/W2999751264","doi":"https://doi.org/10.1109/lra.2020.2965391","mag":"2999751264"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2965391","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2965391","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.05722","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056353073","display_name":"Martin Brossard","orcid":"https://orcid.org/0000-0002-8320-6121"},"institutions":[{"id":"https://openalex.org/I2746051580","display_name":"Universit\u00e9 Paris Sciences et Lettres","ror":"https://ror.org/013cjyk83","country_code":"FR","type":"education","lineage":["https://openalex.org/I2746051580"]},{"id":"https://openalex.org/I4210154688","display_name":"H\u00f4pital Saint-Michel","ror":"https://ror.org/057v2pg43","country_code":"FR","type":"healthcare","lineage":["https://openalex.org/I4210154688"]},{"id":"https://openalex.org/I4403386650","display_name":"Centre de Robotique","ror":"https://ror.org/0180r7w69","country_code":null,"type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4403386650","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Martin Brossard","raw_affiliation_strings":["MINES ParisTech, PSL Research University, Centre for Robotics, 60 Boulevard Saint-Michel, Paris, France","CAOR - Centre de Robotique (60, boulevard Saint-Michel 75272 Paris cedex 06 - France)"],"raw_orcid":"https://orcid.org/0000-0002-8320-6121","affiliations":[{"raw_affiliation_string":"MINES ParisTech, PSL Research University, Centre for Robotics, 60 Boulevard Saint-Michel, Paris, France","institution_ids":["https://openalex.org/I2746051580","https://openalex.org/I70768539"]},{"raw_affiliation_string":"CAOR - Centre de Robotique (60, boulevard Saint-Michel 75272 Paris cedex 06 - France)","institution_ids":["https://openalex.org/I4210154688","https://openalex.org/I4403386650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037120106","display_name":"Silv\u00e8re Bonnabel","orcid":"https://orcid.org/0000-0002-6001-7766"},"institutions":[{"id":"https://openalex.org/I2746051580","display_name":"Universit\u00e9 Paris Sciences et Lettres","ror":"https://ror.org/013cjyk83","country_code":"FR","type":"education","lineage":["https://openalex.org/I2746051580"]},{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Silvere Bonnabel","raw_affiliation_strings":["MINES ParisTech, PSL Research University, Centre for Robotics, 60 Boulevard Saint-Michel, Paris, France","Mines Paris - PSL (\u00c9cole nationale sup\u00e9rieure des mines de Paris) (60, boulevard Saint-Michel 75006 Paris - France)"],"raw_orcid":"https://orcid.org/0000-0002-6001-7766","affiliations":[{"raw_affiliation_string":"MINES ParisTech, PSL Research University, Centre for Robotics, 60 Boulevard Saint-Michel, Paris, France","institution_ids":["https://openalex.org/I2746051580","https://openalex.org/I70768539"]},{"raw_affiliation_string":"Mines Paris - PSL (\u00c9cole nationale sup\u00e9rieure des mines de Paris) (60, boulevard Saint-Michel 75006 Paris - France)","institution_ids":["https://openalex.org/I70768539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072919180","display_name":"Axel Barrau","orcid":"https://orcid.org/0000-0002-8957-8292"},"institutions":[{"id":"https://openalex.org/I2746051580","display_name":"Universit\u00e9 Paris Sciences et Lettres","ror":"https://ror.org/013cjyk83","country_code":"FR","type":"education","lineage":["https://openalex.org/I2746051580"]},{"id":"https://openalex.org/I4210130984","display_name":"Safran Electronics (Canada)","ror":"https://ror.org/03vmatd47","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210130984"]},{"id":"https://openalex.org/I4210165303","display_name":"Safran (France)","ror":"https://ror.org/05sqf9v67","country_code":"FR","type":"company","lineage":["https://openalex.org/I4210165303"]},{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["CA","FR"],"is_corresponding":false,"raw_author_name":"Axel Barrau","raw_affiliation_strings":["MINES ParisTech, PSL Research University, Centre for Robotics, 60 Boulevard Saint-Michel, Paris, France","Safran Tech, Groupe Safran, 78772 Rue des Jeunes Bois-Ch\u00e2teaufort, Magny Les Hameaux Cedex, France","Mines Paris - PSL (\u00c9cole nationale sup\u00e9rieure des mines de Paris) (60, boulevard Saint-Michel 75006 Paris - France)","Safran Tech (France)"],"raw_orcid":"https://orcid.org/0000-0002-8957-8292","affiliations":[{"raw_affiliation_string":"MINES ParisTech, PSL Research University, Centre for Robotics, 60 Boulevard Saint-Michel, Paris, France","institution_ids":["https://openalex.org/I2746051580","https://openalex.org/I70768539"]},{"raw_affiliation_string":"Safran Tech, Groupe Safran, 78772 Rue des Jeunes Bois-Ch\u00e2teaufort, Magny Les Hameaux Cedex, France","institution_ids":["https://openalex.org/I4210130984","https://openalex.org/I4210165303"]},{"raw_affiliation_string":"Mines Paris - PSL (\u00c9cole nationale sup\u00e9rieure des mines de Paris) (60, boulevard Saint-Michel 75006 Paris - France)","institution_ids":["https://openalex.org/I70768539"]},{"raw_affiliation_string":"Safran Tech (France)","institution_ids":["https://openalex.org/I4210165303"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":63.7541,"has_fulltext":false,"cited_by_count":65,"citation_normalized_percentile":{"value":0.99774532,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"5","issue":"2","first_page":"744","last_page":"751"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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"}},"topics":[{"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9944999814033508,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/initialization","display_name":"Initialization","score":0.8403071165084839},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7273264527320862},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.7082488536834717},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.6468521952629089},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6216452121734619},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.6186380386352539},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6036860942840576},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5112988948822021},{"id":"https://openalex.org/keywords/measurement-uncertainty","display_name":"Measurement uncertainty","score":0.5087774395942688},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5006403923034668},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48749351501464844},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4784986078739166},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4598451852798462},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.45209911465644836},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4383787214756012},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.43576037883758545},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.42606574296951294},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41462013125419617},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.32129114866256714},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3211597204208374},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3177981376647949},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2550351619720459},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1126178503036499}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.8403071165084839},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7273264527320862},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.7082488536834717},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.6468521952629089},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6216452121734619},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.6186380386352539},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6036860942840576},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5112988948822021},{"id":"https://openalex.org/C137209882","wikidata":"https://www.wikidata.org/wiki/Q1403517","display_name":"Measurement uncertainty","level":2,"score":0.5087774395942688},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5006403923034668},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48749351501464844},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4784986078739166},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4598451852798462},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.45209911465644836},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4383787214756012},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.43576037883758545},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.42606574296951294},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41462013125419617},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.32129114866256714},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3211597204208374},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3177981376647949},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2550351619720459},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1126178503036499},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2020.2965391","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2965391","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"},{"id":"pmh:oai:arXiv.org:1909.05722","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.05722","pdf_url":"https://arxiv.org/pdf/1909.05722","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:HAL:hal-02284430v2","is_oa":true,"landing_page_url":"https://hal.science/hal-02284430","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2020, &#x27E8;10.1109/LRA.2020.2965391&#x27E9;","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:HAL:hal-03389411v1","is_oa":false,"landing_page_url":"https://hal.science/hal-03389411","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2020, 5 (2)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1909.05722","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.05722","pdf_url":"https://arxiv.org/pdf/1909.05722","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1601609822","https://openalex.org/W1943808550","https://openalex.org/W1953793983","https://openalex.org/W1966790179","https://openalex.org/W2018655096","https://openalex.org/W2023259872","https://openalex.org/W2049650637","https://openalex.org/W2085280799","https://openalex.org/W2121990344","https://openalex.org/W2155653863","https://openalex.org/W2157554397","https://openalex.org/W2169901455","https://openalex.org/W2196111060","https://openalex.org/W2271206385","https://openalex.org/W2296360731","https://openalex.org/W2564361441","https://openalex.org/W2604425362","https://openalex.org/W2736160108","https://openalex.org/W2767178917","https://openalex.org/W2774206966","https://openalex.org/W2776443693","https://openalex.org/W2801418892","https://openalex.org/W2895016049","https://openalex.org/W2908603664","https://openalex.org/W2963428125","https://openalex.org/W2963600667","https://openalex.org/W2964220950","https://openalex.org/W2969202254","https://openalex.org/W3102431786","https://openalex.org/W4230909112","https://openalex.org/W4300178276","https://openalex.org/W4300437862","https://openalex.org/W6812551968"],"related_works":["https://openalex.org/W2783354812","https://openalex.org/W4384112194","https://openalex.org/W4312958259","https://openalex.org/W2103009189","https://openalex.org/W4308259661","https://openalex.org/W2908649049","https://openalex.org/W4385894109","https://openalex.org/W4389665464","https://openalex.org/W3081605500","https://openalex.org/W2796298276"],"abstract_inverted_index":{"In":[0,36],"mobile":[1],"robotics,":[2],"scan":[3],"matching":[4],"of":[5,47,55,92,95],"point":[6],"clouds":[7],"using":[8,115],"Iterative":[9],"Closest":[10],"Point":[11],"(ICP)":[12],"allows":[13],"estimating":[14],"sensor":[15,33,69,131],"displacements.":[16],"It":[17],"may":[18],"prove":[19],"important":[20],"to":[21,44,102,134,141,161,176],"assess":[22],"the":[23,27,53,78,81,87,93,103,116],"associated":[24],"uncertainty":[25,46,79],"about":[26,80],"obtained":[28],"rigid":[29],"transformation,":[30],"especially":[31],"for":[32,51],"fusion":[34],"purposes.":[35],"this":[37,114],"article":[38],"we":[39,146],"propose":[40],"a":[41],"novel":[42],"approach":[43,72],"3D":[45],"ICP":[48,96,137],"that":[49],"accounts":[50],"all":[52],"sources":[54],"error":[56],"as":[57,136],"listed":[58],"in":[59,100],"Censi's":[60],"pioneering":[61],"work,":[62],"namely":[63],"wrong":[64],"convergence,":[65],"underconstrained":[66],"situations,":[67],"and":[68,125,173],"noise.":[70],"Our":[71,149],"builds":[73],"on":[74,86,153],"two":[75],"facts.":[76],"First,":[77],"ICP's":[82],"output":[83],"fully":[84],"depends":[85],"initialization":[88,104],"accuracy.":[89],"Thus":[90],"speaking":[91],"covariance":[94],"makes":[97],"sense":[98],"only":[99],"relation":[101],"uncertainty,":[105,172],"which":[106,119,145],"generally":[107],"stems":[108],"from":[109,159],"odometry":[110],"errors.":[111],"We":[112],"capture":[113],"unscented":[117],"transform,":[118],"also":[120],"reflects":[121],"correlations":[122],"between":[123],"initial":[124],"final":[126],"uncertainties.":[127],"Then,":[128],"assuming":[129],"white":[130],"noise":[132],"leads":[133],"overoptimism":[135],"is":[138,151],"biased":[139],"owing":[140],"e.g.":[142],"calibration":[143],"biases,":[144],"account":[147],"for.":[148],"solution":[150],"tested":[152],"publicly":[154],"available":[155],"real":[156],"data":[157],"ranging":[158],"structured":[160],"unstructured":[162],"environments,":[163],"where":[164],"our":[165],"algorithm":[166],"predicts":[167],"consistent":[168],"results":[169],"with":[170],"actual":[171],"compares":[174],"favorably":[175],"previous":[177],"methods.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
