{"id":"https://openalex.org/W4205301773","doi":"https://doi.org/10.1109/lra.2021.3140130","title":"K-Closest Points and Maximum Clique Pruning for Efficient and Effective 3-D Laser Scan Matching","display_name":"K-Closest Points and Maximum Clique Pruning for Efficient and Effective 3-D Laser Scan Matching","publication_year":2022,"publication_date":"2022-01-04","ids":{"openalex":"https://openalex.org/W4205301773","doi":"https://doi.org/10.1109/lra.2021.3140130"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3140130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3140130","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/A5101401849","display_name":"Yu-Kai Lin","orcid":"https://orcid.org/0000-0002-9839-2174"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yu-Kai Lin","raw_affiliation_strings":["Institute of Multimedia Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan"],"raw_orcid":"https://orcid.org/0000-0002-9839-2174","affiliations":[{"raw_affiliation_string":"Institute of Multimedia Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015123324","display_name":"Wen\u2010Chieh Lin","orcid":"https://orcid.org/0000-0002-9704-5373"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wen-Chieh Lin","raw_affiliation_strings":["Institute of Multimedia Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan"],"raw_orcid":"https://orcid.org/0000-0002-9704-5373","affiliations":[{"raw_affiliation_string":"Institute of Multimedia Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041579723","display_name":"Chieh\u2010Chih Wang","orcid":"https://orcid.org/0000-0001-9385-0044"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]},{"id":"https://openalex.org/I4210148468","display_name":"Industrial Technology Research Institute","ror":"https://ror.org/05szzwt63","country_code":"TW","type":"nonprofit","lineage":["https://openalex.org/I4210148468"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chieh-Chih Wang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan","Mechanical and Mechatronics Systems Research Laboratories, Industrial Technology Research Institute, Hsinchu, Taiwan"],"raw_orcid":"https://orcid.org/0000-0001-9385-0044","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National Yang Ming Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"Mechanical and Mechatronics Systems Research Laboratories, Industrial Technology Research Institute, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I4210148468"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.9963,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.96034504,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"7","issue":"2","first_page":"1471","last_page":"1477"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9951000213623047,"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/matching","display_name":"Matching (statistics)","score":0.6010775566101074},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5369946956634521},{"id":"https://openalex.org/keywords/pruning","display_name":"Pruning","score":0.48555323481559753},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4763529300689697},{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.4492435157299042},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.42218053340911865},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4117547273635864},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3783159852027893},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37289828062057495},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.3371364176273346},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.22507509589195251},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17457279562950134},{"id":"https://openalex.org/keywords/arithmetic","display_name":"Arithmetic","score":0.1694285273551941}],"concepts":[{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.6010775566101074},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5369946956634521},{"id":"https://openalex.org/C108010975","wikidata":"https://www.wikidata.org/wiki/Q500094","display_name":"Pruning","level":2,"score":0.48555323481559753},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4763529300689697},{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.4492435157299042},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.42218053340911865},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4117547273635864},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3783159852027893},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37289828062057495},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.3371364176273346},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.22507509589195251},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17457279562950134},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.1694285273551941},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3140130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3140130","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":[{"id":"https://openalex.org/G3942828872","display_name":null,"funder_award_id":"109-2221-E-009-120-MY3","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"},{"id":"https://openalex.org/G5504374347","display_name":null,"funder_award_id":"109-2221-E-009-119-MY3","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"}],"funders":[{"id":"https://openalex.org/F4320322795","display_name":"Ministry of Science and Technology, Taiwan","ror":"https://ror.org/02kv4zf79"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1823437338","https://openalex.org/W2042463931","https://openalex.org/W2049981393","https://openalex.org/W2085261163","https://openalex.org/W2094694151","https://openalex.org/W2107466766","https://openalex.org/W2131439959","https://openalex.org/W2160821342","https://openalex.org/W2296228853","https://openalex.org/W2344109021","https://openalex.org/W2519911873","https://openalex.org/W2610614679","https://openalex.org/W2883357174","https://openalex.org/W2912521810","https://openalex.org/W2962729173","https://openalex.org/W2964014140","https://openalex.org/W2969150231","https://openalex.org/W2973258311","https://openalex.org/W2981995220","https://openalex.org/W2984241976","https://openalex.org/W3015751240","https://openalex.org/W3034675048","https://openalex.org/W3035574168","https://openalex.org/W3104290757","https://openalex.org/W3111598592","https://openalex.org/W3127188503","https://openalex.org/W3128492115","https://openalex.org/W3135301258","https://openalex.org/W3138805105","https://openalex.org/W4249866455","https://openalex.org/W6628852983","https://openalex.org/W6656866612","https://openalex.org/W6791205910"],"related_works":["https://openalex.org/W2504004674","https://openalex.org/W1595229445","https://openalex.org/W2498744856","https://openalex.org/W4390482104","https://openalex.org/W322408318","https://openalex.org/W149041114","https://openalex.org/W2963177394","https://openalex.org/W1965815883","https://openalex.org/W4313359513","https://openalex.org/W2351740396"],"abstract_inverted_index":{"We":[0,66],"propose":[1],"K-Closest":[2],"Points":[3],"(KCP),":[4],"an":[5,115],"efficient":[6],"and":[7,16,33,61,76,137,145],"effective":[8],"laser":[9],"scan":[10,71],"matching":[11,36,59,72],"approach":[12,28,60],"inspired":[13],"by":[14],"LOAM":[15],"TEASER++.":[17],"The":[18,47],"efficiency":[19,136],"of":[20,49,55,118,156],"KCP":[21,50,68],"comes":[22,51],"from":[23,52],"a":[24,34,89],"feature":[25,57],"point":[26,58],"extraction":[27],"utilizing":[29],"the":[30,40,53,56,62,83,109,151,157],"multi-scale":[31],"curvature":[32],"heuristic":[35],"method":[37],"based":[38],"on":[39,74],"<inline-formula":[41,94,103,119,128],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[42,95,104,120,129],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[43,96,105,121,130],"notation=\"LaTeX\">$k$</tex-math></inline-formula>":[44],"-closest":[45],"points.":[46],"effectiveness":[48,138],"integration":[54],"maximum":[63,158],"clique":[64,159],"pruning.":[65],"compare":[67],"against":[69],"well-known":[70],"approaches":[73],"synthetic":[75,84],"real-world":[77,110,140],"LiDAR":[78],"data":[79,85,111],"(nuScenes":[80],"dataset).":[81],"In":[82,108],"experiment,":[86,112],"KCP-TEASER":[87,113],"reaches":[88],"state-of-the-art":[90],"root-mean-square":[91],"transformation":[92],"error":[93,117],"notation=\"LaTeX\">$(0.006\\,\\mathrm{m},":[97],"0.014^\\circ)$</tex-math></inline-formula>":[98],"with":[99,124],"average":[100,116,125],"computational":[101,126],"time":[102,127],"notation=\"LaTeX\">$49\\mathrm{ms}$</tex-math></inline-formula>":[106],".":[107,132],"achieves":[114],"notation=\"LaTeX\">$(0.018\\,\\mathrm{m},":[122],"0.101^\\circ)$</tex-math></inline-formula>":[123],"notation=\"LaTeX\">$77\\,\\mathrm{ms}$</tex-math></inline-formula>":[131],"This":[133],"shows":[134],"its":[135],"in":[139],"scenarios.":[141],"Through":[142],"theoretic":[143],"derivation":[144],"empirical":[146],"experiments,":[147],"we":[148],"also":[149],"reveal":[150],"outlier":[152,166],"correspondence":[153],"penetration":[154],"issue":[155],"pruning":[160],"that":[161],"it":[162],"may":[163],"still":[164],"contain":[165],"correspondences.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}