{"id":"https://openalex.org/W4414110487","doi":"https://doi.org/10.1109/lra.2025.3608652","title":"EJRGF: Efficient Joint Registration of Multiple Point Clouds Using Fast Gaussian Filter","display_name":"EJRGF: Efficient Joint Registration of Multiple Point Clouds Using Fast Gaussian Filter","publication_year":2025,"publication_date":"2025-09-10","ids":{"openalex":"https://openalex.org/W4414110487","doi":"https://doi.org/10.1109/lra.2025.3608652"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3608652","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3608652","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":null,"display_name":"Yihan Pan","orcid":"https://orcid.org/0009-0005-5095-4739"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yihan Pan","raw_affiliation_strings":["Department of Mechanical Engineering, East China University of Science and Technology, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0005-5095-4739","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086030465","display_name":"Jianjun Yi","orcid":"https://orcid.org/0000-0003-0899-177X"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianjun Yi","raw_affiliation_strings":["Department of Mechanical Engineering, East China University of Science and Technology, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-0899-177X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036193379","display_name":"Zhiyong Dai","orcid":"https://orcid.org/0000-0003-1101-8647"},"institutions":[{"id":"https://openalex.org/I2801919588","display_name":"Shanghai Library","ror":"https://ror.org/022d5rd48","country_code":"CN","type":"archive","lineage":["https://openalex.org/I2801919588"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyong Dai","raw_affiliation_strings":["Department of Information and Intelligent Engineering, Shanghai Publishing and Printing College, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-1101-8647","affiliations":[{"raw_affiliation_string":"Department of Information and Intelligent Engineering, Shanghai Publishing and Printing College, Shanghai, China","institution_ids":["https://openalex.org/I2801919588"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013236735","display_name":"Yibin Zhao","orcid":"https://orcid.org/0009-0006-2025-5555"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Zhao","raw_affiliation_strings":["Department of Mechanical Engineering, East China University of Science and Technology, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0006-2025-5555","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103441877","display_name":"Liansheng Wang","orcid":"https://orcid.org/0000-0003-0387-2296"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liansheng Wang","raw_affiliation_strings":["Department of Mechanical Engineering, East China University of Science and Technology, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-0387-2296","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I143593769"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.28024369,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"11","first_page":"11212","last_page":"11219"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12205","display_name":"Time Series Analysis and Forecasting","score":0.987500011920929,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T12205","display_name":"Time Series Analysis and Forecasting","score":0.987500011920929,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9732000231742859,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9560999870300293,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5552999973297119},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.511900007724762},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.46560001373291016},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4401000142097473},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.42579999566078186},{"id":"https://openalex.org/keywords/gaussian-filter","display_name":"Gaussian filter","score":0.41290000081062317},{"id":"https://openalex.org/keywords/point-set-registration","display_name":"Point set registration","score":0.4034999907016754},{"id":"https://openalex.org/keywords/mixture-model","display_name":"Mixture model","score":0.37310001254081726},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.36149999499320984}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.680899977684021},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5552999973297119},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5203999876976013},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.511900007724762},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4702000021934509},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.46560001373291016},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4401000142097473},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.42579999566078186},{"id":"https://openalex.org/C65892221","wikidata":"https://www.wikidata.org/wiki/Q1113935","display_name":"Gaussian filter","level":3,"score":0.41290000081062317},{"id":"https://openalex.org/C200336642","wikidata":"https://www.wikidata.org/wiki/Q15058706","display_name":"Point set registration","level":3,"score":0.4034999907016754},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.37310001254081726},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.36149999499320984},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3610000014305115},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3601999878883362},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3531999886035919},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.35109999775886536},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.34950000047683716},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.34860000014305115},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.3425000011920929},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.32910001277923584},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.32850000262260437},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.3199000060558319},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.31619998812675476},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.28780001401901245},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.28450000286102295},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.26809999346733093},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.259799987077713},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.25360000133514404}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3608652","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3608652","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W131996945","https://openalex.org/W1489258026","https://openalex.org/W1964772475","https://openalex.org/W1966790179","https://openalex.org/W2009422376","https://openalex.org/W2021851106","https://openalex.org/W2063549868","https://openalex.org/W2071158641","https://openalex.org/W2083624955","https://openalex.org/W2131439959","https://openalex.org/W2140711847","https://openalex.org/W2150066425","https://openalex.org/W2160821342","https://openalex.org/W2511763786","https://openalex.org/W2594495318","https://openalex.org/W2766534319","https://openalex.org/W2979400304","https://openalex.org/W2981995220","https://openalex.org/W3006068288","https://openalex.org/W3010226298","https://openalex.org/W3035272603","https://openalex.org/W3042567147","https://openalex.org/W3210969740","https://openalex.org/W4281845676","https://openalex.org/W4312247543","https://openalex.org/W4386065759","https://openalex.org/W4386075857","https://openalex.org/W4386076282","https://openalex.org/W4399835589","https://openalex.org/W4402300011","https://openalex.org/W4402716311","https://openalex.org/W4410114642"],"related_works":["https://openalex.org/W2609066529","https://openalex.org/W2082319654","https://openalex.org/W1970319972","https://openalex.org/W2150541705","https://openalex.org/W2389710210","https://openalex.org/W4386840168","https://openalex.org/W2921413925","https://openalex.org/W1998409879","https://openalex.org/W2566989475","https://openalex.org/W3166815864"],"abstract_inverted_index":{"Joint":[0],"registration":[1,23,57,89,143],"plays":[2],"a":[3,49,78,94,115,158],"critical":[4],"role":[5],"when":[6],"it":[7],"comes":[8],"to":[9,17,140,176],"aligning":[10],"multiple":[11],"point":[12,74],"clouds.":[13],"Despite":[14],"its":[15],"capacity":[16],"obtain":[18],"unbiased":[19],"solutions,":[20],"current":[21],"joint":[22,56,88],"approaches":[24],"face":[25],"substantial":[26],"computational":[27],"challenges,":[28],"particularly":[29],"regarding":[30],"processing":[31],"speed":[32],"and":[33,43,66,86,128,165],"resource":[34,64],"consumption,":[35,65],"which":[36],"impede":[37],"their":[38],"practical":[39],"implementation":[40],"with":[41,83],"large-scale":[42],"long-sequence":[44],"data.":[45],"Accordingly,":[46],"we":[47,105,136],"present":[48],"novel":[50],"probabilistic":[51],"framework":[52],"called":[53],"EJRGF":[54],"for":[55],"that":[58,71,124,151],"achieves":[59],"substantially":[60],"higher":[61],"efficiency,":[62],"reduced":[63],"state-of-the-art":[67,155],"accuracy.":[68,134],"We":[69],"assume":[70],"each":[72],"data":[73],"is":[75,90],"generated":[76],"from":[77],"Gaussian":[79,118],"Mixture":[80],"Model":[81],"(GMM)":[82],"isotropic":[84],"components":[85],"the":[87,126,129],"then":[91],"reformulated":[92],"as":[93],"maximum":[95],"likelihood":[96],"estimation":[97],"problem.":[98],"To":[99],"solve":[100],"this":[101],"optimization":[102],"problem":[103],"efficiently,":[104],"formally":[106],"derive":[107],"an":[108,170],"innovative":[109],"Expectation-Maximization":[110],"(EM)":[111],"algorithm":[112],"accelerated":[113],"by":[114,157],"modified":[116],"fast":[117],"filter":[119],"based":[120],"on":[121],"permutohedral":[122],"lattice":[123],"estimates":[125],"transformations":[127],"GMM":[130],"parameters":[131],"without":[132],"compromising":[133],"Furthermore,":[135],"extend":[137],"our":[138,152],"method":[139],"address":[141],"global":[142],"tasks":[144],"through":[145],"feature":[146],"augmentation.":[147],"Comprehensive":[148],"experiments":[149],"demonstrate":[150],"approach":[153],"outperforms":[154],"methods":[156],"large":[159],"margin":[160],"in":[161],"terms":[162],"of":[163,172],"efficiency":[164],"accuracy,":[166],"achieving":[167],"at":[168],"least":[169],"order":[171],"magnitude":[173],"acceleration":[174],"compared":[175],"JRMPC.":[177]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
