{"id":"https://openalex.org/W4396817531","doi":"https://doi.org/10.1109/lsp.2024.3399668","title":"Low-Overlap Point Cloud Registration With Transformer","display_name":"Low-Overlap Point Cloud Registration With Transformer","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4396817531","doi":"https://doi.org/10.1109/lsp.2024.3399668"},"language":"en","primary_location":{"id":"doi:10.1109/lsp.2024.3399668","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lsp.2024.3399668","pdf_url":null,"source":{"id":"https://openalex.org/S120629676","display_name":"IEEE Signal Processing Letters","issn_l":"1070-9908","issn":["1070-9908","1558-2361"],"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 Signal Processing 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/A5074698054","display_name":"Yong Wang","orcid":"https://orcid.org/0000-0002-8326-2924"},"institutions":[{"id":"https://openalex.org/I37802460","display_name":"Northwest University","ror":"https://ror.org/00z3td547","country_code":"CN","type":"education","lineage":["https://openalex.org/I37802460"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Wang","raw_affiliation_strings":["School of Information Science and Technology, Northwest University, Xian, China"],"raw_orcid":"https://orcid.org/0000-0002-8326-2924","affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Northwest University, Xian, China","institution_ids":["https://openalex.org/I37802460"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111120771","display_name":"Pengbo Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I25254941","display_name":"Beijing Normal University","ror":"https://ror.org/022k4wk35","country_code":"CN","type":"education","lineage":["https://openalex.org/I25254941"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengbo Zhou","raw_affiliation_strings":["School of Arts and Communication, Beijing Normal University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6362-4177","affiliations":[{"raw_affiliation_string":"School of Arts and Communication, Beijing Normal University, Beijing, China","institution_ids":["https://openalex.org/I25254941"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100340390","display_name":"Guohua Geng","orcid":"https://orcid.org/0009-0005-8886-0332"},"institutions":[{"id":"https://openalex.org/I37802460","display_name":"Northwest University","ror":"https://ror.org/00z3td547","country_code":"CN","type":"education","lineage":["https://openalex.org/I37802460"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guohua Geng","raw_affiliation_strings":["School of Information Science and Technology, Northwest University, Xian, China"],"raw_orcid":"https://orcid.org/0009-0005-8886-0332","affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Northwest University, Xian, China","institution_ids":["https://openalex.org/I37802460"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100340374","display_name":"Li An","orcid":"https://orcid.org/0000-0002-6772-8085"},"institutions":[{"id":"https://openalex.org/I37802460","display_name":"Northwest University","ror":"https://ror.org/00z3td547","country_code":"CN","type":"education","lineage":["https://openalex.org/I37802460"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li An","raw_affiliation_strings":["School of Information Science and Technology, Northwest University, Xian, China"],"raw_orcid":"https://orcid.org/0000-0002-6772-8085","affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Northwest University, Xian, China","institution_ids":["https://openalex.org/I37802460"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037837669","display_name":"Qi Zhang","orcid":"https://orcid.org/0000-0001-6270-4263"},"institutions":[{"id":"https://openalex.org/I37802460","display_name":"Northwest University","ror":"https://ror.org/00z3td547","country_code":"CN","type":"education","lineage":["https://openalex.org/I37802460"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Zhang","raw_affiliation_strings":["School of Information Science and Technology, Northwest University, Xian, China"],"raw_orcid":"https://orcid.org/0000-0001-6270-4263","affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Northwest University, Xian, China","institution_ids":["https://openalex.org/I37802460"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6573,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.61795717,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"31","issue":null,"first_page":"1469","last_page":"1473"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9995999932289124,"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":0.9995999932289124,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.998199999332428,"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/point-cloud","display_name":"Point cloud","score":0.8206626176834106},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.773459255695343},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49636274576187134},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.48596441745758057},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.45779305696487427},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.44564592838287354},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4128255546092987},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35860222578048706},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.35357666015625},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2834981083869934}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8206626176834106},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.773459255695343},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49636274576187134},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.48596441745758057},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.45779305696487427},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.44564592838287354},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4128255546092987},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35860222578048706},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.35357666015625},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2834981083869934},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lsp.2024.3399668","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lsp.2024.3399668","pdf_url":null,"source":{"id":"https://openalex.org/S120629676","display_name":"IEEE Signal Processing Letters","issn_l":"1070-9908","issn":["1070-9908","1558-2361"],"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 Signal Processing Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6600000262260437,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G3670913460","display_name":null,"funder_award_id":"62271393","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5869685923","display_name":null,"funder_award_id":"2024GX-YBXM-555","funder_id":"https://openalex.org/F4320324173","funder_display_name":"Natural Science Foundation of Shaanxi Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324173","display_name":"Natural Science Foundation of Shaanxi Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2566265240","https://openalex.org/W2883357174","https://openalex.org/W2981995220","https://openalex.org/W3034675048","https://openalex.org/W3131096279","https://openalex.org/W3167684723","https://openalex.org/W3177280664","https://openalex.org/W3210801864","https://openalex.org/W4280630571","https://openalex.org/W4312516208","https://openalex.org/W4316660744","https://openalex.org/W4319300821","https://openalex.org/W4321020868","https://openalex.org/W4323914196","https://openalex.org/W4328007191","https://openalex.org/W4367663338","https://openalex.org/W4367835377","https://openalex.org/W4380079737","https://openalex.org/W4386065549","https://openalex.org/W4386065759","https://openalex.org/W4386075928","https://openalex.org/W4386076224","https://openalex.org/W6763422710","https://openalex.org/W6766978945"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W4321353415","https://openalex.org/W2745001401","https://openalex.org/W2130974462","https://openalex.org/W4244478748","https://openalex.org/W2028665553","https://openalex.org/W2086519370","https://openalex.org/W4246352526","https://openalex.org/W2121910908","https://openalex.org/W915438175"],"abstract_inverted_index":{"In":[0,138],"real-world":[1],"scenarios,":[2],"due":[3],"to":[4,69,132],"factors":[5],"like":[6],"sensor":[7],"noise,":[8],"point":[9,30,50,64,71],"cloud":[10,31,72],"data":[11],"often":[12],"exhibits":[13],"low":[14,141],"overlap,":[15,142],"posing":[16],"challenges":[17],"for":[18,48],"traditional":[19],"registration":[20,32,136,170],"methods.":[21],"To":[22],"address":[23],"this":[24,143],"issue,":[25],"we":[26,78],"propose":[27],"a":[28,38,159,169],"low-overlap":[29],"with":[33,140],"Transformer.":[34],"This":[35,55,120],"algorithm":[36,144],"employs":[37],"dynamic":[39],"positional":[40],"encoding":[41],"strategy":[42],"that":[43],"adaptively":[44],"computes":[45],"position":[46],"encodings":[47],"each":[49],"based":[51],"on":[52,134],"its":[53],"distribution.":[54],"enables":[56],"better":[57],"capturing":[58],"of":[59,82,109,150,173],"richer":[60],"spatial":[61],"relationships":[62],"between":[63,103],"clouds":[65],"and":[66,84,157],"facilitates":[67],"adaptation":[68],"diverse":[70],"distributions":[73],"across":[74],"various":[75],"scenes.":[76],"Furthermore,":[77],"combine":[79],"the":[80,96,107,116,129,147,164],"mechanisms":[81],"self-attention":[83,88],"graph":[85,97],"convolutions.":[86],"The":[87],"mechanism":[89],"captures":[90],"global":[91],"dependencies":[92],"among":[93],"points,":[94],"while":[95],"convolutions":[98],"capture":[99],"local":[100],"neighborhood":[101],"information":[102],"points.":[104],"Lastly,":[105],"in":[106,163],"context":[108],"cross-attention,":[110],"adaptive":[111,126],"weights":[112],"are":[113],"introduced":[114],"during":[115],"attention":[117,123],"calculation":[118],"process.":[119],"involves":[121],"multiplying":[122],"scores":[124],"by":[125],"weights,":[127],"enhancing":[128],"model's":[130],"ability":[131],"focus":[133],"crucial":[135],"areas.":[137],"scenarios":[139],"significantly":[145],"enhances":[146],"success":[148],"rate":[149,172],"successful":[151],"registrations.":[152],"It":[153],"achieves":[154],"notable":[155],"improvements":[156],"attains":[158],"new":[160],"state-of-the-art":[161],"performance":[162],"3DLoMatch":[165],"benchmark":[166],"test,":[167],"reaching":[168],"recall":[171],"71.7%.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}