{"id":"https://openalex.org/W3183233802","doi":"https://doi.org/10.1109/lra.2021.3097268","title":"Geometry Guided Network for Point Cloud Registration","display_name":"Geometry Guided Network for Point Cloud Registration","publication_year":2021,"publication_date":"2021-07-29","ids":{"openalex":"https://openalex.org/W3183233802","doi":"https://doi.org/10.1109/lra.2021.3097268","mag":"3183233802"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3097268","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3097268","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/A5045281789","display_name":"Taewon Min","orcid":"https://orcid.org/0000-0002-0381-2296"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Taewon Min","raw_affiliation_strings":["Ground Technology Research Institute (GTRI), Agency for Defense Development (ADD), Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Ground Technology Research Institute (GTRI), Agency for Defense Development (ADD), Daejeon, Korea","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101585396","display_name":"Eun-Seok Kim","orcid":"https://orcid.org/0000-0002-9646-4576"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Eunseok Kim","raw_affiliation_strings":["Ground Technology Research Institute (GTRI), Agency for Defense Development (ADD), Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Ground Technology Research Institute (GTRI), Agency for Defense Development (ADD), Daejeon, Korea","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066513515","display_name":"Inwook Shim","orcid":"https://orcid.org/0000-0002-9167-6748"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Inwook Shim","raw_affiliation_strings":["Ground Technology Research Institute (GTRI), Agency for Defense Development (ADD), Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Ground Technology Research Institute (GTRI), Agency for Defense Development (ADD), Daejeon, Korea","institution_ids":["https://openalex.org/I2801036362"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5045281789"],"corresponding_institution_ids":["https://openalex.org/I2801036362"],"apc_list":null,"apc_paid":null,"fwci":1.9264,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.84400192,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"6","issue":"4","first_page":"7270","last_page":"7277"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9998999834060669,"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":0.9987999796867371,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9961000084877014,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.9440480470657349},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.68836510181427},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6712007522583008},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.6494700908660889},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.6046798229217529},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5654972195625305},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.5513578653335571},{"id":"https://openalex.org/keywords/uniqueness","display_name":"Uniqueness","score":0.5355010032653809},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5253012776374817},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.41865628957748413},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.33949223160743713},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1587337851524353}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.9440480470657349},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.68836510181427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6712007522583008},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.6494700908660889},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.6046798229217529},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5654972195625305},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.5513578653335571},{"id":"https://openalex.org/C2777021972","wikidata":"https://www.wikidata.org/wiki/Q22976830","display_name":"Uniqueness","level":2,"score":0.5355010032653809},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5253012776374817},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.41865628957748413},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.33949223160743713},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1587337851524353},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/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.2021.3097268","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3097268","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320323103","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1920022804","https://openalex.org/W1957167950","https://openalex.org/W2049981393","https://openalex.org/W2100495367","https://openalex.org/W2107528150","https://openalex.org/W2160821342","https://openalex.org/W2344109021","https://openalex.org/W2411093439","https://openalex.org/W2519911873","https://openalex.org/W2529695652","https://openalex.org/W2560609797","https://openalex.org/W2606202972","https://openalex.org/W2742069755","https://openalex.org/W2753798143","https://openalex.org/W2944796900","https://openalex.org/W2963057320","https://openalex.org/W2963121255","https://openalex.org/W2963264709","https://openalex.org/W2963281829","https://openalex.org/W2963403868","https://openalex.org/W2963678509","https://openalex.org/W2963925437","https://openalex.org/W2964121744","https://openalex.org/W2979750740","https://openalex.org/W2981199548","https://openalex.org/W2981685844","https://openalex.org/W2985088149","https://openalex.org/W2986382673","https://openalex.org/W2990045899","https://openalex.org/W3004808484","https://openalex.org/W3013243617","https://openalex.org/W3035338950","https://openalex.org/W3096538374","https://openalex.org/W3104408604","https://openalex.org/W4249866455","https://openalex.org/W4385245566","https://openalex.org/W6631190155","https://openalex.org/W6640300118","https://openalex.org/W6640926891","https://openalex.org/W6739778489","https://openalex.org/W6739901393","https://openalex.org/W6744580074","https://openalex.org/W6763422710","https://openalex.org/W6767019538","https://openalex.org/W6782003584","https://openalex.org/W6967141601"],"related_works":["https://openalex.org/W571281153","https://openalex.org/W2949403936","https://openalex.org/W3023806604","https://openalex.org/W2952139525","https://openalex.org/W4301247218","https://openalex.org/W2129818458","https://openalex.org/W4289551052","https://openalex.org/W4298023222","https://openalex.org/W2611574177","https://openalex.org/W2083408179"],"abstract_inverted_index":{"Point":[0],"cloud":[1,77,126,139],"registration":[2,78,140,147],"is":[3,43,115],"a":[4,14,57],"well-known":[5],"way":[6],"to":[7,32,46],"align":[8],"two":[9,123],"different":[10,53,124],"point":[11,36,50,76,125,138],"clouds":[12],"via":[13],"rigid":[15],"transform":[16],"estimation":[17],"in":[18,52,56,137],"robotics":[19],"and":[20,84,145,152],"computer":[21],"vision":[22],"applications.":[23],"In":[24],"particular,":[25],"deep":[26],"learning-based":[27],"methods":[28],"have":[29],"recently":[30],"attempted":[31],"extract":[33],"highly":[34,48],"distinguishable":[35],"features":[37,51,99,160],"for":[38,75,149,163],"each":[39,113],"point.":[40],"However,":[41],"it":[42],"still":[44],"challenging":[45],"learn":[47],"distinctive":[49],"locations":[54],"but":[55],"similar":[58],"shape,":[59],"bringing":[60],"performance":[61],"limitations.":[62],"To":[63],"address":[64],"this":[65],"issue,":[66],"we":[67],"propose":[68],"Geometry":[69],"Guided":[70],"Network,":[71],"namely":[72],"G$^2$":[73,131],"Net,":[74],"with":[79,90,118,142],"spherical":[80],"positional":[81,93,104],"encoding":[82,94],"method":[83],"unsupervised":[85],"geometry":[86],"consistency":[87,120],"loss.":[88],"Combined":[89],"self-attention,":[91],"the":[92,96,150,165],"learns":[95],"globally":[97],"unique":[98],"by":[100],"assigning":[101],"global":[102,166],"geometric":[103,119],"information":[105],"into":[106],"irregular":[107],"3D":[108],"points.":[109],"The":[110],"uniqueness":[111],"of":[112,168],"feature":[114],"further":[116],"strengthened":[117],"loss":[121],"across":[122],"sets.":[127],"We":[128],"demonstrate":[129],"that":[130],"Net":[132],"outperforms":[133],"current":[134],"state-of-the-arts":[135],"models":[136],"tasks":[141],"both":[143],"full":[144],"partial":[146],"experiments":[148],"ModelNet40":[151],"Augmented":[153],"ICL-NUIM":[154],"datasets.":[155],"Various":[156],"visualizations":[157],"on":[158],"learned":[159],"are":[161],"provided":[162],"demonstrating":[164],"shape-awareness":[167],"our":[169],"methodology.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}