{"id":"https://openalex.org/W4404521027","doi":"https://doi.org/10.1109/lra.2024.3502056","title":"RANSAC Back to SOTA: A Two-Stage Consensus Filtering for Real-Time 3D Registration","display_name":"RANSAC Back to SOTA: A Two-Stage Consensus Filtering for Real-Time 3D Registration","publication_year":2024,"publication_date":"2024-11-19","ids":{"openalex":"https://openalex.org/W4404521027","doi":"https://doi.org/10.1109/lra.2024.3502056"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3502056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3502056","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/A5100668197","display_name":"Pengcheng Shi","orcid":"https://orcid.org/0000-0003-2504-9890"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Pengcheng Shi","raw_affiliation_strings":["School of Computer Science, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007805694","display_name":"Shaocheng Yan","orcid":"https://orcid.org/0009-0008-9749-8920"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaocheng Yan","raw_affiliation_strings":["School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034298718","display_name":"Yilin Xiao","orcid":"https://orcid.org/0000-0002-9827-6149"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yilin Xiao","raw_affiliation_strings":["Department of Computing, Hong Kong Polytechnic University, Hong Kong SAR, China","Department of Computing, Hong Kong Polytechnic University, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Computing, Hong Kong Polytechnic University, Hong Kong SAR, China","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Computing, Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100395652","display_name":"Xinyi Liu","orcid":"https://orcid.org/0000-0001-5333-8054"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyi Liu","raw_affiliation_strings":["School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108625236","display_name":"Yongjun Zhang","orcid":"https://orcid.org/0000-0001-9845-4251"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongjun Zhang","raw_affiliation_strings":["School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108050395","display_name":"Jiayuan Li","orcid":"https://orcid.org/0000-0002-9850-1668"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiayuan Li","raw_affiliation_strings":["School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Remote Sensing and Information Engineering, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100668197"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":3.5943,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.94271253,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"12","first_page":"11881","last_page":"11888"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9879000186920166,"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"}},"topics":[{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9879000186920166,"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/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9872000217437744,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9799000024795532,"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/ransac","display_name":"RANSAC","score":0.9255708456039429},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5831820368766785},{"id":"https://openalex.org/keywords/stage","display_name":"Stage (stratigraphy)","score":0.4987177848815918},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4536260664463043},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40985316038131714},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.10916650295257568}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.9255708456039429},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5831820368766785},{"id":"https://openalex.org/C146357865","wikidata":"https://www.wikidata.org/wiki/Q1123245","display_name":"Stage (stratigraphy)","level":2,"score":0.4987177848815918},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4536260664463043},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40985316038131714},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.10916650295257568},{"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3502056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3502056","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/G1147084453","display_name":null,"funder_award_id":"42201474","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G290837236","display_name":null,"funder_award_id":"42271444","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1989625560","https://openalex.org/W2049981393","https://openalex.org/W2063549868","https://openalex.org/W2085261163","https://openalex.org/W2150066425","https://openalex.org/W2160821342","https://openalex.org/W2173117243","https://openalex.org/W2344109021","https://openalex.org/W2519911873","https://openalex.org/W2566265240","https://openalex.org/W2889300857","https://openalex.org/W2962828767","https://openalex.org/W2962941647","https://openalex.org/W2973258311","https://openalex.org/W2979750740","https://openalex.org/W2981995220","https://openalex.org/W2986382673","https://openalex.org/W3014916165","https://openalex.org/W3016340286","https://openalex.org/W3096328458","https://openalex.org/W3111598592","https://openalex.org/W3205253566","https://openalex.org/W3207682209","https://openalex.org/W3211345561","https://openalex.org/W4200521323","https://openalex.org/W4249866455","https://openalex.org/W4312516208","https://openalex.org/W4312773339","https://openalex.org/W4362595640","https://openalex.org/W4377261945","https://openalex.org/W4385128690","https://openalex.org/W4386065759","https://openalex.org/W4388543774","https://openalex.org/W4391365559","https://openalex.org/W4396903381","https://openalex.org/W6725207838","https://openalex.org/W6854246728","https://openalex.org/W6862198373"],"related_works":["https://openalex.org/W2553945284","https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747"],"abstract_inverted_index":{"Correspondence-based":[0],"point":[1],"cloud":[2],"registration":[3,174],"(PCR)":[4],"plays":[5],"a":[6,75,93,113,136],"key":[7],"role":[8],"in":[9,26,66],"robotics":[10],"and":[11,21,87,116,129,158,176],"computer":[12],"vision.":[13],"However,":[14,38],"challenges":[15],"like":[16],"sensor":[17],"noises,":[18],"object":[19],"occlusions,":[20],"descriptor":[22],"limitations":[23],"inevitably":[24],"result":[25],"numerous":[27],"outliers.":[28],"RANSAC":[29,82,91,102,111,133],"family":[30],"is":[31,146],"the":[32,39,45,104,150,155],"most":[33],"popular":[34],"outlier":[35,46],"removal":[36],"solution.":[37],"requisite":[40],"iterations":[41],"escalate":[42],"exponentially":[43],"with":[44],"ratio,":[47],"rendering":[48],"it":[49],"far":[50],"inferior":[51],"to":[52,83,148,166,170],"existing":[53],"methods":[54],"(SC2PCR":[55],"[Chen":[56],"et":[57,62],"al.,":[58,63],"2022],":[59],"MAC":[60,171],"[Zhang":[61],"2023],":[64],"etc.)":[65],"terms":[67],"of":[68],"accuracy":[69,175],"or":[70],"speed.":[71],"Thus,":[72],"we":[73],"propose":[74],"two-stage":[76],"consensus":[77,94],"filtering":[78],"(TCF)":[79],"that":[80],"elevates":[81],"state-of-the-art":[84],"(SOTA)":[85],"speed":[86],"accuracy.":[88],"Firstly,":[89],"one-point":[90,128],"obtains":[92],"set":[95,105],"based":[96,119],"on":[97,120,125,154],"length":[98],"consistency.":[99,108],"Subsequently,":[100],"two-point":[101,130],"refines":[103],"via":[106],"angle":[107],"Then,":[109],"three-point":[110,132],"computes":[112],"coarse":[114],"pose":[115],"removes":[117],"outliers":[118],"transformed":[121],"correspondence's":[122],"distances.":[123],"Drawing":[124],"optimizations":[126],"from":[127],"RANSAC,":[131],"requires":[134],"only":[135],"few":[137],"iterations.":[138],"Eventually,":[139],"an":[140],"iterative":[141],"reweighted":[142],"least":[143],"squares":[144],"(IRLS)":[145],"applied":[147],"yield":[149],"optimal":[151],"pose.":[152],"Experiments":[153],"large-scale":[156],"KITTI":[157],"ETH":[159],"datasets":[160],"demonstrate":[161],"our":[162],"method":[163],"achieves":[164],"up":[165],"three-orders-of-magnitude":[167],"speedup":[168],"compared":[169],"while":[172],"maintaining":[173],"recall.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-15T09:29:46.208133","created_date":"2025-10-10T00:00:00"}
