{"id":"https://openalex.org/W4390044765","doi":"https://doi.org/10.1109/sdf-mfi59545.2023.10361440","title":"Point Cloud Registration based on Gaussian Mixtures and Pairwise Wasserstein Distances","display_name":"Point Cloud Registration based on Gaussian Mixtures and Pairwise Wasserstein Distances","publication_year":2023,"publication_date":"2023-11-27","ids":{"openalex":"https://openalex.org/W4390044765","doi":"https://doi.org/10.1109/sdf-mfi59545.2023.10361440"},"language":"en","primary_location":{"id":"doi:10.1109/sdf-mfi59545.2023.10361440","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sdf-mfi59545.2023.10361440","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration (SDF-MFI)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://resolver.sub.uni-goettingen.de/purl?gro-2/155130","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082518637","display_name":"Simon Steuernagel","orcid":"https://orcid.org/0000-0002-9602-3922"},"institutions":[{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Simon Steuernagel","raw_affiliation_strings":["University of Goettingen,Institute of Computer Science,Germany","Institute of Computer Science, University of Goettingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Goettingen,Institute of Computer Science,Germany","institution_ids":["https://openalex.org/I74656192"]},{"raw_affiliation_string":"Institute of Computer Science, University of Goettingen, Germany","institution_ids":["https://openalex.org/I74656192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093548426","display_name":"Aaron Kurda","orcid":null},"institutions":[{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Aaron Kurda","raw_affiliation_strings":["University of Goettingen,Institute of Computer Science,Germany","Institute of Computer Science, University of Goettingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Goettingen,Institute of Computer Science,Germany","institution_ids":["https://openalex.org/I74656192"]},{"raw_affiliation_string":"Institute of Computer Science, University of Goettingen, Germany","institution_ids":["https://openalex.org/I74656192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053963755","display_name":"Marcus Baum","orcid":"https://orcid.org/0000-0002-0953-9032"},"institutions":[{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marcus Baum","raw_affiliation_strings":["University of Goettingen,Institute of Computer Science,Germany","Institute of Computer Science, University of Goettingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Goettingen,Institute of Computer Science,Germany","institution_ids":["https://openalex.org/I74656192"]},{"raw_affiliation_string":"Institute of Computer Science, University of Goettingen, Germany","institution_ids":["https://openalex.org/I74656192"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.781,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.86140779,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9941999912261963,"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":0.9941999912261963,"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":0.9926999807357788,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.98580002784729,"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/point-cloud","display_name":"Point cloud","score":0.8335490226745605},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.706562876701355},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6658632755279541},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6617589592933655},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.6496267914772034},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5398508906364441},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.5303459763526917},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5214892625808716},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5150582790374756},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5017576217651367},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.49156269431114197},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.4907287359237671},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4433257579803467},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.42179927229881287},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3962344825267792},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3383023142814636},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.287651926279068},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2523547410964966},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22725388407707214},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17833223938941956},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.12399134039878845},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08241719007492065}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8335490226745605},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.706562876701355},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6658632755279541},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6617589592933655},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.6496267914772034},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5398508906364441},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.5303459763526917},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5214892625808716},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5150582790374756},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5017576217651367},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.49156269431114197},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.4907287359237671},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4433257579803467},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.42179927229881287},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3962344825267792},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3383023142814636},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.287651926279068},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2523547410964966},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22725388407707214},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17833223938941956},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.12399134039878845},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08241719007492065},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/sdf-mfi59545.2023.10361440","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sdf-mfi59545.2023.10361440","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration (SDF-MFI)","raw_type":"proceedings-article"},{"id":"pmh:oai:publications.goettingen-research-online.de:2/160932","is_oa":true,"landing_page_url":"https://resolver.sub.uni-goettingen.de/purl?gro-2/155130","pdf_url":null,"source":{"id":"https://openalex.org/S4306401634","display_name":"GoeScholar  The Publication Server of the Georg-August-Universit\u00e4t G\u00f6ttingen (Georg-August-Universit\u00e4t G\u00f6ttingen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210122495","host_organization_name":"Asklepios Klinik St. Georg","host_organization_lineage":["https://openalex.org/I4210122495"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"yes"}],"best_oa_location":{"id":"pmh:oai:publications.goettingen-research-online.de:2/160932","is_oa":true,"landing_page_url":"https://resolver.sub.uni-goettingen.de/purl?gro-2/155130","pdf_url":null,"source":{"id":"https://openalex.org/S4306401634","display_name":"GoeScholar  The Publication Server of the Georg-August-Universit\u00e4t G\u00f6ttingen (Georg-August-Universit\u00e4t G\u00f6ttingen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210122495","host_organization_name":"Asklepios Klinik St. Georg","host_organization_lineage":["https://openalex.org/I4210122495"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"yes"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1512698229","https://openalex.org/W1567242735","https://openalex.org/W2040104067","https://openalex.org/W2049981393","https://openalex.org/W2115579991","https://openalex.org/W2126885789","https://openalex.org/W2150066425","https://openalex.org/W2150190641","https://openalex.org/W2296228853","https://openalex.org/W2296664252","https://openalex.org/W2786036844","https://openalex.org/W2805521962","https://openalex.org/W2894934843","https://openalex.org/W2997823328","https://openalex.org/W2998589496","https://openalex.org/W3003991701","https://openalex.org/W3043971245","https://openalex.org/W3095662029","https://openalex.org/W3101703006","https://openalex.org/W3131459917","https://openalex.org/W3161855852","https://openalex.org/W3198819597","https://openalex.org/W3203066970","https://openalex.org/W3206395965","https://openalex.org/W3206505934","https://openalex.org/W3207826836","https://openalex.org/W3214180234","https://openalex.org/W4205574455","https://openalex.org/W4223948219","https://openalex.org/W4225659967","https://openalex.org/W4249866455","https://openalex.org/W4281555123","https://openalex.org/W4286543692","https://openalex.org/W4313291238","https://openalex.org/W4315778466","https://openalex.org/W4320005708","https://openalex.org/W4323914196","https://openalex.org/W4385948512","https://openalex.org/W6677853600","https://openalex.org/W6747827861","https://openalex.org/W6804393327","https://openalex.org/W6806755367"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W2813834476","https://openalex.org/W3016861202","https://openalex.org/W4391129294","https://openalex.org/W2807666361","https://openalex.org/W2196111060","https://openalex.org/W4213431252","https://openalex.org/W4306760020","https://openalex.org/W2120071540"],"abstract_inverted_index":{"Point":[0],"cloud":[1,117],"registration":[2],"has":[3],"plenty":[4],"of":[5,22,67,85,88],"applications":[6],"in":[7,16,96],"robotics,":[8],"e.g.,":[9],"for":[10,28,115],"matching":[11],"two":[12,57,86],"consecutive":[13],"LiDAR":[14,125],"scans":[15],"order":[17],"to":[18,36,110,124],"estimate":[19],"the":[20,68,79,89],"motion":[21],"a":[23,50,75,97,112],"mobile":[24],"robot.":[25],"In":[26,45],"particular":[27],"dense":[29],"point":[30,116],"clouds,":[31],"it":[32,109],"can":[33,120],"be":[34,111,122],"advantageous":[35],"work":[37],"with":[38],"accumulative":[39],"features":[40],"such":[41],"as":[42],"Gaussian":[43,58,69],"distributions.":[44],"this":[46],"context,":[47],"we":[48,73],"propose":[49],"novel":[51],"iterative":[52],"method":[53,92],"that":[54],"directly":[55,121],"aligns":[56],"mixtures.":[59,90],"This":[60],"is":[61,93],"achieved":[62],"using":[63],"an":[64],"efficient":[65],"approximation":[66],"Wasserstein":[70],"distance,":[71],"which":[72,119],"find":[74,108],"suitable":[76],"metric":[77],"capturing":[78],"similarity":[80],"between":[81],"shape":[82],"and":[83,100],"position":[84],"components":[87],"The":[91],"first":[94],"analyzed":[95],"simulation":[98],"study,":[99],"afterwards":[101],"further":[102],"evaluated":[103],"on":[104],"real-world":[105],"data.":[106],"We":[107],"promising":[113],"approach":[114],"registration,":[118],"expanded":[123],"odometry.":[126]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}