{"id":"https://openalex.org/W3127188503","doi":"https://doi.org/10.1109/lra.2021.3052418","title":"PHASER: A Robust and Correspondence-Free Global Pointcloud Registration","display_name":"PHASER: A Robust and Correspondence-Free Global Pointcloud Registration","publication_year":2021,"publication_date":"2021-02-02","ids":{"openalex":"https://openalex.org/W3127188503","doi":"https://doi.org/10.1109/lra.2021.3052418","mag":"3127188503"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3052418","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3052418","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/2102.02767","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063760728","display_name":"Lukas Bernreiter","orcid":"https://orcid.org/0000-0002-3162-0363"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Lukas Bernreiter","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-3162-0363","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033725695","display_name":"Lionel Ott","orcid":"https://orcid.org/0000-0001-6554-0575"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Lionel Ott","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-6554-0575","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059792297","display_name":"Juan Nieto","orcid":"https://orcid.org/0000-0003-4808-0831"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Juan Nieto","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-4808-0831","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-2760-7983","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063529163","display_name":"C\u00e9sar Cadena","orcid":"https://orcid.org/0000-0002-2972-6011"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Cesar Cadena","raw_affiliation_strings":["Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-2972-6011","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":29.0483,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.99232761,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"6","issue":"2","first_page":"855","last_page":"862"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9969000220298767,"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"}},{"id":"https://openalex.org/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9937999844551086,"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/phaser","display_name":"Phaser","score":0.6327853202819824},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6242818832397461},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.5304989814758301},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5143517255783081},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4788617789745331},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4693252444267273},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.43959346413612366},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.434914767742157},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.37045490741729736},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08470186591148376}],"concepts":[{"id":"https://openalex.org/C135393689","wikidata":"https://www.wikidata.org/wiki/Q1551588","display_name":"Phaser","level":2,"score":0.6327853202819824},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6242818832397461},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.5304989814758301},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5143517255783081},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4788617789745331},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4693252444267273},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.43959346413612366},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.434914767742157},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.37045490741729736},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08470186591148376},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"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/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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2021.3052418","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3052418","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:2102.02767","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.02767","pdf_url":"https://arxiv.org/pdf/2102.02767","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:zenodo.org:4500814","is_oa":true,"landing_page_url":"https://zenodo.org/record/4500814","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 6(2), 855 - 862, (2021-01-18)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2102.02767","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.02767","pdf_url":"https://arxiv.org/pdf/2102.02767","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":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.5400000214576721}],"awards":[{"id":"https://openalex.org/G5079078660","display_name":"PILOTs for robotic INspection and maintenance Grounded on advanced intelligent platforms and prototype applications","funder_award_id":"871542","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7842005466","display_name":null,"funder_award_id":"Horizon 2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320321652","display_name":"Eidgen\u00f6ssische Technische Hochschule Z\u00fcrich","ror":"https://ror.org/05a28rw58"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1509463039","https://openalex.org/W1601609822","https://openalex.org/W1645424129","https://openalex.org/W1967796020","https://openalex.org/W1986655361","https://openalex.org/W1993267444","https://openalex.org/W2004788330","https://openalex.org/W2034950486","https://openalex.org/W2045145094","https://openalex.org/W2049981393","https://openalex.org/W2053725563","https://openalex.org/W2065413845","https://openalex.org/W2070216603","https://openalex.org/W2083624955","https://openalex.org/W2105612568","https://openalex.org/W2131372145","https://openalex.org/W2131439959","https://openalex.org/W2134236847","https://openalex.org/W2143696753","https://openalex.org/W2150066425","https://openalex.org/W2157364958","https://openalex.org/W2160615084","https://openalex.org/W2160821342","https://openalex.org/W2161123599","https://openalex.org/W2271206385","https://openalex.org/W2296228853","https://openalex.org/W2344109021","https://openalex.org/W2610614679","https://openalex.org/W2788406649","https://openalex.org/W2809605404","https://openalex.org/W2884745741","https://openalex.org/W2963847924","https://openalex.org/W2966698437","https://openalex.org/W2969202254","https://openalex.org/W3111598592","https://openalex.org/W4249866455","https://openalex.org/W6772886726"],"related_works":["https://openalex.org/W1655720158","https://openalex.org/W2369361542","https://openalex.org/W1499828956","https://openalex.org/W647759170","https://openalex.org/W2366854666","https://openalex.org/W2492925340","https://openalex.org/W2595523213","https://openalex.org/W2006176066","https://openalex.org/W103088352","https://openalex.org/W2900275675"],"abstract_inverted_index":{"We":[0,133],"propose":[1],"PHASER,":[2],"a":[3,99,110,113],"correspondence-free":[4],"global":[5],"registration":[6,64,140],"of":[7,39,52,126,172],"sensor-centric":[8],"pointclouds":[9,162],"that":[10,102,157],"is":[11,181],"robust":[12],"to":[13,98,122],"noise,":[14,184],"sparsity,":[15],"and":[16,26,55,93,112,128,146,175,185],"partial":[17,188],"overlaps.":[18],"Our":[19,63,154],"method":[20],"can":[21,159,186],"seamlessly":[22],"handle":[23,187],"multimodal":[24],"information,":[25],"does":[27],"not":[28],"rely":[29],"on":[30,45,61,142],"keypoint":[31],"nor":[32],"descriptor":[33],"preprocessing":[34],"modules.":[35],"By":[36],"exploiting":[37],"properties":[38],"Fourier":[40],"analysis,":[41],"PHASER":[42,136,158],"operates":[43],"directly":[44],"the":[46,50,57,69,79,104,124],"sensor's":[47],"signal,":[48],"fusing":[49],"spectra":[51],"multiple":[53],"channels":[54],"computing":[56,78],"6-DoF":[58],"transformation":[59],"based":[60],"correlation.":[62],"pipeline":[65],"starts":[66],"by":[67,77],"finding":[68],"most":[70,80],"likely":[71,81],"rotation":[72],"r":[73,127],"\u2208":[74,84],"SO(3)":[75],"followed":[76],"translation":[82],"t":[83,94],"R":[85],"<sup":[86,177],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[87,178],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3</sup>":[88],".":[89],"Both":[90],"estimates,":[91],"r,":[92],"are":[95],"distributed":[96],"according":[97],"probability":[100],"distribution":[101],"takes":[103],"underlying":[105],"manifold":[106],"into":[107],"account,":[108],"i.e.,":[109],"Bingham":[111],"Gaussian":[114],"distribution,":[115],"respectively.":[116],"This":[117],"further":[118],"allows":[119],"our":[120],"approach":[121],"consider":[123],"periodic-nature":[125],"naturally":[129],"represents":[130],"its":[131],"uncertainty.":[132],"extensively":[134],"compare":[135],"against":[137,183],"several":[138],"well-known":[139],"algorithms":[141],"both":[143],"simulated":[144],"datasets,":[145],"real-world":[147],"data":[148],"acquired":[149],"using":[150],"different":[151],"sensor":[152],"configurations.":[153],"results":[155],"show":[156],"globally":[160],"align":[161],"in":[163],"less":[164],"than":[165],"100":[166],"ms":[167],"with":[168],"an":[169],"average":[170],"accuracy":[171],"2":[173],"cm":[174],"0.5":[176],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">o</sup>":[179],",":[180],"resilient":[182],"overlap.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-18T07:39:51.176621","created_date":"2025-10-10T00:00:00"}
