{"id":"https://openalex.org/W3134947110","doi":"https://doi.org/10.1109/lra.2021.3065224","title":"SKD: Keypoint Detection for Point Clouds Using Saliency Estimation","display_name":"SKD: Keypoint Detection for Point Clouds Using Saliency Estimation","publication_year":2021,"publication_date":"2021-03-11","ids":{"openalex":"https://openalex.org/W3134947110","doi":"https://doi.org/10.1109/lra.2021.3065224","mag":"3134947110"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3065224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3065224","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1912.04943","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021310105","display_name":"Georgi Tinchev","orcid":"https://orcid.org/0000-0002-9910-6598"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Georgi Tinchev","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford, Cambridge, United Kingdom","University of Oxford"],"raw_orcid":"https://orcid.org/0000-0002-9910-6598","affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, Cambridge, United Kingdom","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]},{"raw_affiliation_string":"University of Oxford","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023962259","display_name":"Adri\u00e1n Pe\u00f1ate-S\u00e1nchez","orcid":"https://orcid.org/0000-0003-2876-3301"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Adrian Penate-Sanchez","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford, Cambridge, United Kingdom","University of Oxford"],"raw_orcid":"https://orcid.org/0000-0003-2876-3301","affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, Cambridge, United Kingdom","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]},{"raw_affiliation_string":"University of Oxford","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072974727","display_name":"Maurice Fallon","orcid":"https://orcid.org/0000-0003-2940-0879"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Maurice Fallon","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford, Cambridge, United Kingdom","University of Oxford"],"raw_orcid":"https://orcid.org/0000-0003-2940-0879","affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, Cambridge, United Kingdom","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]},{"raw_affiliation_string":"University of Oxford","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5021310105"],"corresponding_institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"],"apc_list":null,"apc_paid":null,"fwci":1.0948,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.88243691,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"6","issue":"2","first_page":"3785","last_page":"3792"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7884364128112793},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7871299982070923},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6841673851013184},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.5476736426353455},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.508768618106842},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4564625322818756},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.44794395565986633},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.4272725582122803},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25156456232070923}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7884364128112793},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7871299982070923},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6841673851013184},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.5476736426353455},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.508768618106842},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4564625322818756},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44794395565986633},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.4272725582122803},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25156456232070923},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/lra.2021.3065224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3065224","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:1912.04943","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1912.04943","pdf_url":"https://arxiv.org/pdf/1912.04943","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":"mag:3134947110","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1912.04943","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:accedacris.ulpgc.es:10553/130229","is_oa":false,"landing_page_url":"http://hdl.handle.net/10553/130229","pdf_url":null,"source":{"id":"https://openalex.org/S4306400136","display_name":"Acceda (Universidad de Las Palmas de Gran Canaria)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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, [ISSN: 2377-3766], vol. 6 (2), ( 2021)","raw_type":"Article"},{"id":"doi:10.48550/arxiv.1912.04943","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1912.04943","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1912.04943","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1912.04943","pdf_url":"https://arxiv.org/pdf/1912.04943","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":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3134947110.pdf","grobid_xml":"https://content.openalex.org/works/W3134947110.grobid-xml"},"referenced_works_count":63,"referenced_works":["https://openalex.org/W1945298332","https://openalex.org/W1989625560","https://openalex.org/W2083970667","https://openalex.org/W2085261163","https://openalex.org/W2099606917","https://openalex.org/W2111308925","https://openalex.org/W2115579991","https://openalex.org/W2133098875","https://openalex.org/W2150165932","https://openalex.org/W2151103935","https://openalex.org/W2160821342","https://openalex.org/W2518775244","https://openalex.org/W2556970001","https://openalex.org/W2558027072","https://openalex.org/W2560609797","https://openalex.org/W2755126795","https://openalex.org/W2785760873","https://openalex.org/W2786802517","https://openalex.org/W2883357174","https://openalex.org/W2890967717","https://openalex.org/W2891612330","https://openalex.org/W2902302021","https://openalex.org/W2949896259","https://openalex.org/W2950747644","https://openalex.org/W2951870616","https://openalex.org/W2953106684","https://openalex.org/W2961749418","https://openalex.org/W2962818872","https://openalex.org/W2962851944","https://openalex.org/W2962858109","https://openalex.org/W2962888833","https://openalex.org/W2963121255","https://openalex.org/W2963382180","https://openalex.org/W2963419579","https://openalex.org/W2963537932","https://openalex.org/W2963708168","https://openalex.org/W2964062501","https://openalex.org/W2964347182","https://openalex.org/W2968949658","https://openalex.org/W2971202257","https://openalex.org/W2979458572","https://openalex.org/W2980535048","https://openalex.org/W2981556384","https://openalex.org/W2982104318","https://openalex.org/W2982190091","https://openalex.org/W2982446862","https://openalex.org/W2982892652","https://openalex.org/W3034675048","https://openalex.org/W3043075211","https://openalex.org/W3097606838","https://openalex.org/W3104100999","https://openalex.org/W3104408604","https://openalex.org/W6677995690","https://openalex.org/W6681608319","https://openalex.org/W6685133223","https://openalex.org/W6739778489","https://openalex.org/W6752208963","https://openalex.org/W6754669440","https://openalex.org/W6763422710","https://openalex.org/W6764177528","https://openalex.org/W6765456200","https://openalex.org/W6765499649","https://openalex.org/W6780053115"],"related_works":["https://openalex.org/W3138805105","https://openalex.org/W425251948","https://openalex.org/W2070237190","https://openalex.org/W2701285376","https://openalex.org/W2520274358","https://openalex.org/W2091287383","https://openalex.org/W2295167857","https://openalex.org/W2555058893","https://openalex.org/W3044794509","https://openalex.org/W3100706964","https://openalex.org/W2781926731","https://openalex.org/W2754092424","https://openalex.org/W2073070574","https://openalex.org/W1993939318","https://openalex.org/W3039203539","https://openalex.org/W2559682234","https://openalex.org/W3021932264","https://openalex.org/W2900290300","https://openalex.org/W2736620681","https://openalex.org/W2610507592"],"abstract_inverted_index":{"We":[0],"present":[1],"SKD,":[2],"a":[3,16,55,72,97,103,159],"novel":[4],"keypoint":[5,81],"detector":[6],"that":[7,42,90],"uses":[8],"saliency":[9,61],"to":[10,31,46,78,135],"determine":[11],"the":[12,39,47,51,65,100,110,123,128,139,151],"best":[13],"candidates":[14],"from":[15],"point":[17],"cloud":[18],"for":[19],"tasks":[20],"such":[21],"as":[22,54,96],"registration":[23],"and":[24,68,127,144,163],"reconstruction.":[25],"The":[26,60,83,113],"approach":[27,88,114],"can":[28],"be":[29],"applied":[30],"any":[32],"differentiable":[33],"deep":[34],"learning":[35],"descriptor":[36,43,67],"by":[37,154],"using":[38],"gradients":[40],"of":[41,50,57,99],"with":[44,64,150],"respect":[45],"3D":[48],"position":[49],"input":[52],"points":[53],"measure":[56],"their":[58],"saliency.":[59],"is":[62,76,89],"combined":[63],"original":[66],"context":[69],"information":[70],"in":[71,141],"neural":[73],"network,":[74],"which":[75],"trained":[77],"learn":[79],"robust":[80],"candidates.":[82],"key":[84],"intuition":[85],"behind":[86],"this":[87],"keypoints":[91,152],"are":[92],"not":[93],"extracted":[94],"solely":[95],"result":[98],"geometry":[101],"surrounding":[102],"point,":[104],"but":[105],"also":[106],"take":[107],"into":[108],"account":[109],"descriptor's":[111],"response.":[112],"was":[115],"evaluated":[116],"on":[117],"two":[118],"large":[119],"LIDAR":[120],"datasets":[121],"-":[122],"Oxford":[124],"RobotCar":[125],"dataset":[126],"KITTI":[129],"dataset,":[130],"where":[131],"we":[132,157],"obtain":[133],"up":[134],"50%":[136],"improvement":[137],"over":[138],"state-of-the-art":[140],"both":[142],"matchability":[143],"repeatability.":[145],"When":[146],"performing":[147],"sparse":[148],"matching":[149],"computed":[153],"our":[155],"method":[156],"achieve":[158],"higher":[160],"inlier":[161],"ratio":[162],"faster":[164],"convergence.":[165]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}