{"id":"https://openalex.org/W2910098149","doi":"https://doi.org/10.1109/m2vip.2018.8600843","title":"3D Point Cloud Coarse Registration based on Convex Hull Refined by ICP and NDT","display_name":"3D Point Cloud Coarse Registration based on Convex Hull Refined by ICP and NDT","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2910098149","doi":"https://doi.org/10.1109/m2vip.2018.8600843","mag":"2910098149"},"language":"en","primary_location":{"id":"doi:10.1109/m2vip.2018.8600843","is_oa":false,"landing_page_url":"https://doi.org/10.1109/m2vip.2018.8600843","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","raw_type":"proceedings-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/A5020623529","display_name":"Mouna Attia","orcid":"https://orcid.org/0000-0003-4413-8135"},"institutions":[{"id":"https://openalex.org/I108714496","display_name":"Tunis University","ror":"https://ror.org/02q1spa57","country_code":"TN","type":"education","lineage":["https://openalex.org/I108714496"]},{"id":"https://openalex.org/I63596082","display_name":"Tunis El Manar University","ror":"https://ror.org/029cgt552","country_code":"TN","type":"education","lineage":["https://openalex.org/I63596082"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Mouna Attia","raw_affiliation_strings":["Universit\u00e9 de Tunis El Manar Facult\u00e9 des Sciences de Tunis Laboratory: LIPAH, LR11ES14 2092, Tunis, Tunisie","Laboratoire d'Informatique, Programmation, Algorithmique et Heuristique"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit\u00e9 de Tunis El Manar Facult\u00e9 des Sciences de Tunis Laboratory: LIPAH, LR11ES14 2092, Tunis, Tunisie","institution_ids":["https://openalex.org/I108714496","https://openalex.org/I63596082"]},{"raw_affiliation_string":"Laboratoire d'Informatique, Programmation, Algorithmique et Heuristique","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111991974","display_name":"Yosr Slama","orcid":null},"institutions":[{"id":"https://openalex.org/I108714496","display_name":"Tunis University","ror":"https://ror.org/02q1spa57","country_code":"TN","type":"education","lineage":["https://openalex.org/I108714496"]},{"id":"https://openalex.org/I63596082","display_name":"Tunis El Manar University","ror":"https://ror.org/029cgt552","country_code":"TN","type":"education","lineage":["https://openalex.org/I63596082"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Yosr Slama","raw_affiliation_strings":["Universit\u00e9 de Tunis El Manar Facult\u00e9 des Sciences de Tunis Laboratory: LIPAH, LR11ES14 2092, Tunis, Tunisie","Laboratoire d'Informatique, Programmation, Algorithmique et Heuristique"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit\u00e9 de Tunis El Manar Facult\u00e9 des Sciences de Tunis Laboratory: LIPAH, LR11ES14 2092, Tunis, Tunisie","institution_ids":["https://openalex.org/I108714496","https://openalex.org/I63596082"]},{"raw_affiliation_string":"Laboratoire d'Informatique, Programmation, Algorithmique et Heuristique","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060909024","display_name":"Laurent Peyrodie","orcid":"https://orcid.org/0000-0001-6602-9584"},"institutions":[{"id":"https://openalex.org/I4210143894","display_name":"Laboratoire d'Automatique, G\u00e9nie Informatique et Signal","ror":"https://ror.org/04wez4p43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I2279609970","https://openalex.org/I4210131494","https://openalex.org/I4210137101","https://openalex.org/I4210139971","https://openalex.org/I4210143894","https://openalex.org/I7454413"]},{"id":"https://openalex.org/I4210158942","display_name":"Imagerie par R\u00e9sonance Magn\u00e9tique M\u00e9dicale et Multi-Modalit\u00e9s","ror":"https://ror.org/04phmsq76","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102197404","https://openalex.org/I1294671590","https://openalex.org/I4210095849","https://openalex.org/I4210158942"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Laurent Peyrodie","raw_affiliation_strings":["I3MTO Orl\u00e9ans HEI-UTSB groupe Yncrea Hauts de France, Lille, France","LAGIS-SI","Unit\u00e9 de traitement des signaux Biom\u00e9dicaux","Imagerie Multimodale Multi\u00e9chelle et Mod\u00e9lisation du Tissu Osseux et articulaire"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"I3MTO Orl\u00e9ans HEI-UTSB groupe Yncrea Hauts de France, Lille, France","institution_ids":[]},{"raw_affiliation_string":"LAGIS-SI","institution_ids":["https://openalex.org/I4210143894"]},{"raw_affiliation_string":"Unit\u00e9 de traitement des signaux Biom\u00e9dicaux","institution_ids":[]},{"raw_affiliation_string":"Imagerie Multimodale Multi\u00e9chelle et Mod\u00e9lisation du Tissu Osseux et articulaire","institution_ids":["https://openalex.org/I4210158942"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101505838","display_name":"Hua Cao","orcid":"https://orcid.org/0009-0007-7678-3717"},"institutions":[{"id":"https://openalex.org/I4210158942","display_name":"Imagerie par R\u00e9sonance Magn\u00e9tique M\u00e9dicale et Multi-Modalit\u00e9s","ror":"https://ror.org/04phmsq76","country_code":"FR","type":"facility","lineage":["https://openalex.org/I102197404","https://openalex.org/I1294671590","https://openalex.org/I4210095849","https://openalex.org/I4210158942"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Hua Cao","raw_affiliation_strings":["I3MTO Orl\u00e9ans HEI-UTSB groupe Yncrea Hauts de France, Lille, France","Unit\u00e9 de traitement des signaux Biom\u00e9dicaux","Imagerie Multimodale Multi\u00e9chelle et Mod\u00e9lisation du Tissu Osseux et articulaire"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"I3MTO Orl\u00e9ans HEI-UTSB groupe Yncrea Hauts de France, Lille, France","institution_ids":[]},{"raw_affiliation_string":"Unit\u00e9 de traitement des signaux Biom\u00e9dicaux","institution_ids":[]},{"raw_affiliation_string":"Imagerie Multimodale Multi\u00e9chelle et Mod\u00e9lisation du Tissu Osseux et articulaire","institution_ids":["https://openalex.org/I4210158942"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063986374","display_name":"Farah Haddad","orcid":"https://orcid.org/0000-0002-3292-9397"},"institutions":[{"id":"https://openalex.org/I181827316","display_name":"Universit\u00e9 Catholique de Lille","ror":"https://ror.org/025s1b152","country_code":"FR","type":"education","lineage":["https://openalex.org/I181827316"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Farah Haddad","raw_affiliation_strings":["FMM-UTSB, ICL Lille, Lille, France","Unit\u00e9 de traitement des signaux Biom\u00e9dicaux","Universit\u00e9 catholique de Lille - Facult\u00e9 de m\u00e9decine et de ma\u00efeutique"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FMM-UTSB, ICL Lille, Lille, France","institution_ids":["https://openalex.org/I2279609970"]},{"raw_affiliation_string":"Unit\u00e9 de traitement des signaux Biom\u00e9dicaux","institution_ids":[]},{"raw_affiliation_string":"Universit\u00e9 catholique de Lille - Facult\u00e9 de m\u00e9decine et de ma\u00efeutique","institution_ids":["https://openalex.org/I181827316"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.2141,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.96210397,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"7","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9984999895095825,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9955000281333923,"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/iterative-closest-point","display_name":"Iterative closest point","score":0.8152855038642883},{"id":"https://openalex.org/keywords/convex-hull","display_name":"Convex hull","score":0.7858701348304749},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.773770272731781},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.6153352856636047},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.590233325958252},{"id":"https://openalex.org/keywords/rigid-transformation","display_name":"Rigid transformation","score":0.5839866995811462},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5184340476989746},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5141034722328186},{"id":"https://openalex.org/keywords/centroid","display_name":"Centroid","score":0.4984612464904785},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.47662413120269775},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.47084924578666687},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45844200253486633},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4557189643383026},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.44307228922843933},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4171541631221771},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2898229658603668},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.27984368801116943},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.22348859906196594}],"concepts":[{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.8152855038642883},{"id":"https://openalex.org/C206194317","wikidata":"https://www.wikidata.org/wiki/Q1138624","display_name":"Convex hull","level":3,"score":0.7858701348304749},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.773770272731781},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.6153352856636047},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.590233325958252},{"id":"https://openalex.org/C126795593","wikidata":"https://www.wikidata.org/wiki/Q7333813","display_name":"Rigid transformation","level":2,"score":0.5839866995811462},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5184340476989746},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5141034722328186},{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.4984612464904785},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.47662413120269775},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.47084924578666687},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45844200253486633},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4557189643383026},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.44307228922843933},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4171541631221771},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2898229658603668},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.27984368801116943},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.22348859906196594},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/m2vip.2018.8600843","is_oa":false,"landing_page_url":"https://doi.org/10.1109/m2vip.2018.8600843","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-03705588v1","is_oa":false,"landing_page_url":"https://hal.science/hal-03705588","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), Nov 2018, Stuttgart, France. pp.1-6, &#x27E8;10.1109/m2vip.2018.8600843&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1416942850","https://openalex.org/W1548836129","https://openalex.org/W1650975994","https://openalex.org/W1964617110","https://openalex.org/W1981760881","https://openalex.org/W1994195379","https://openalex.org/W2066606526","https://openalex.org/W2085261163","https://openalex.org/W2113904010","https://openalex.org/W2157899944","https://openalex.org/W2208936087","https://openalex.org/W2298202960","https://openalex.org/W2388569008","https://openalex.org/W2511970846","https://openalex.org/W2535656339","https://openalex.org/W2563594284","https://openalex.org/W4251391716","https://openalex.org/W4285719527","https://openalex.org/W6697463166","https://openalex.org/W6725604056"],"related_works":["https://openalex.org/W2168584693","https://openalex.org/W2519648241","https://openalex.org/W3082975905","https://openalex.org/W2592785027","https://openalex.org/W2784146774","https://openalex.org/W2004640125","https://openalex.org/W3154360165","https://openalex.org/W2118640186","https://openalex.org/W2520208008","https://openalex.org/W1560750067"],"abstract_inverted_index":{"Non-rigid":[0],"registration":[1,32,145,160,181],"is":[2,23,111,132,140],"a":[3,39,59,189],"crucial":[4],"step":[5],"for":[6],"many":[7],"applications":[8,22],"such":[9],"as":[10],"motion":[11],"tracking,":[12],"model":[13,110],"retrieval,":[14],"and":[15,97],"object":[16],"recognition.":[17],"The":[18,137,151],"accuracy":[19],"of":[20,76,123,143,155,158,179],"these":[21],"highly":[24],"dependent":[25],"on":[26,51,172],"the":[27,55,64,74,82,92,102,106,109,116,119,124,141,156,162,177,186],"initial":[28],"position":[29],"used":[30],"in":[31,185],"step.":[33],"In":[34],"this":[35,129],"paper":[36],"we":[37],"propose":[38],"novel":[40],"Convex":[41],"Hull":[42],"Aided":[43],"Coarse":[44],"Registration":[45],"refined":[46,133],"by":[47,134,146,161],"two":[48,86,93,125,135],"algorithms":[49],"applied":[50],"projected":[52,80,94],"points.":[53],"Firstly,":[54],"proposed":[56],"approach":[57],"uses":[58],"statistical":[60],"method":[61],"to":[62,108],"find":[63],"best":[65],"plane":[66],"that":[67,176],"represents":[68],"each":[69,77],"point":[70,95],"cloud.":[71],"Secondly,":[72],"all":[73],"points":[75],"cloud":[78],"are":[79,89],"onto":[81],"corresponding":[83],"planes.":[84],"Then,":[85],"convex":[87,126],"hulls":[88],"extracted":[90],"from":[91,105],"sets":[96],"then":[98],"matched":[99,120],"optimally.":[100],"Next,":[101],"non-rigid":[103],"transformation":[104,130],"reference":[107],"robustly":[112],"estimated":[113],"through":[114],"minimizing":[115],"distance":[117],"between":[118],"point's":[121],"pairs":[122],"hulls.":[127],"Finally,":[128],"estimation":[131],"methods.":[136],"first":[138],"one":[139,153],"refinement":[142,157,178,193],"coarse":[144,159,180],"Iterative":[147],"Closest":[148],"Point":[149],"(ICP).":[150],"second":[152],"consists":[154],"Normal":[163],"Distribution":[164],"Transform":[165],"(NDT).":[166],"An":[167],"experimental":[168],"study,":[169],"carried":[170],"out":[171],"several":[173],"clouds,":[174],"shows":[175],"with":[182,194],"ICP":[183],"gives,":[184],"most":[187],"cases,":[188],"better":[190],"result":[191],"than":[192],"NDT.":[195]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
