{"id":"https://openalex.org/W4416513173","doi":"https://doi.org/10.1109/taes.2025.3635575","title":"RVGICP: Fast and Accurate 4-D Radar Point Cloud Registration Based on Voxelized GICP","display_name":"RVGICP: Fast and Accurate 4-D Radar Point Cloud Registration Based on Voxelized GICP","publication_year":2025,"publication_date":"2025-11-21","ids":{"openalex":"https://openalex.org/W4416513173","doi":"https://doi.org/10.1109/taes.2025.3635575"},"language":null,"primary_location":{"id":"doi:10.1109/taes.2025.3635575","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2025.3635575","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","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/A5049285461","display_name":"Feipeng Chen","orcid":"https://orcid.org/0009-0007-4713-2149"},"institutions":[{"id":"https://openalex.org/I4210100356","display_name":"Ministry of Education","ror":"https://ror.org/018f7hf93","country_code":"CL","type":"government","lineage":["https://openalex.org/I4210100356"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"Feipeng Chen","raw_affiliation_strings":["School of Instrument Science and Engineering, State Key Laboratory of Comprehensive PNT Network and Equipment Technology, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China","School of Instrument Science and Engineering, State Key Laboratory of comprehensive PNT Network and Equipment Technology, Key Laboratory of micro-inertial instrument and advanced navigation technology, Ministry of education, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0007-4713-2149","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, State Key Laboratory of Comprehensive PNT Network and Equipment Technology, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I4210100356"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, State Key Laboratory of comprehensive PNT Network and Equipment Technology, Key Laboratory of micro-inertial instrument and advanced navigation technology, Ministry of education, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I4210100356"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101721195","display_name":"Wang Li-hui","orcid":"https://orcid.org/0000-0003-1196-2347"},"institutions":[{"id":"https://openalex.org/I4210100356","display_name":"Ministry of Education","ror":"https://ror.org/018f7hf93","country_code":"CL","type":"government","lineage":["https://openalex.org/I4210100356"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"Lihui Wang","raw_affiliation_strings":["School of Instrument Science and Engineering, State Key Laboratory of Comprehensive PNT Network and Equipment Technology, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China","School of Instrument Science and Engineering, State Key Laboratory of comprehensive PNT Network and Equipment Technology, Key Laboratory of micro-inertial instrument and advanced navigation technology, Ministry of education, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-1196-2347","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, State Key Laboratory of Comprehensive PNT Network and Equipment Technology, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I4210100356"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, State Key Laboratory of comprehensive PNT Network and Equipment Technology, Key Laboratory of micro-inertial instrument and advanced navigation technology, Ministry of education, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I4210100356"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037912035","display_name":"Kui Wang","orcid":"https://orcid.org/0000-0003-3928-9318"},"institutions":[{"id":"https://openalex.org/I4210118099","display_name":"China Design Group (China)","ror":"https://ror.org/02mnaa826","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210118099"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kui Wang","raw_affiliation_strings":["Northern Information Control Research Academy Group Company Ltd., Nanjing, China","Northern Information Control Research Academy Group Co., Ltd., Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northern Information Control Research Academy Group Company Ltd., Nanjing, China","institution_ids":[]},{"raw_affiliation_string":"Northern Information Control Research Academy Group Co., Ltd., Nanjing, China","institution_ids":["https://openalex.org/I4210118099"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.3626,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.94037769,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"62","issue":null,"first_page":"2201","last_page":"2217"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.777899980545044,"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":0.777899980545044,"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":0.03779999911785126,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.021900000050663948,"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/point-cloud","display_name":"Point cloud","score":0.8149999976158142},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6636000275611877},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.567300021648407},{"id":"https://openalex.org/keywords/radar-tracker","display_name":"Radar tracker","score":0.4523000121116638},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.398499995470047},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.3935000002384186},{"id":"https://openalex.org/keywords/radar-imaging","display_name":"Radar imaging","score":0.3702000081539154},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.36070001125335693},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.3474999964237213}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8149999976158142},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.730400025844574},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6636000275611877},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.567300021648407},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5526000261306763},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47909998893737793},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.4523000121116638},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.40799999237060547},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.398499995470047},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.3935000002384186},{"id":"https://openalex.org/C10929652","wikidata":"https://www.wikidata.org/wiki/Q7279985","display_name":"Radar imaging","level":3,"score":0.3702000081539154},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.36070001125335693},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.3474999964237213},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.3440999984741211},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.33869999647140503},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.32710000872612},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.3269999921321869},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.31869998574256897},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.3057999908924103},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.29660001397132874},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.29269999265670776},{"id":"https://openalex.org/C87360688","wikidata":"https://www.wikidata.org/wiki/Q740686","display_name":"Synthetic aperture radar","level":2,"score":0.2824999988079071},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.27959999442100525},{"id":"https://openalex.org/C134406370","wikidata":"https://www.wikidata.org/wiki/Q832005","display_name":"Radar engineering details","level":4,"score":0.26589998602867126},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2025.3635575","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2025.3635575","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1990385077","https://openalex.org/W2012502415","https://openalex.org/W2049981393","https://openalex.org/W2063549868","https://openalex.org/W2131439959","https://openalex.org/W2144491133","https://openalex.org/W2158662637","https://openalex.org/W2344109021","https://openalex.org/W2610614679","https://openalex.org/W2775675275","https://openalex.org/W2909157769","https://openalex.org/W2909250516","https://openalex.org/W2961443823","https://openalex.org/W3007240855","https://openalex.org/W3090913682","https://openalex.org/W3129245057","https://openalex.org/W3203066970","https://openalex.org/W3206505934","https://openalex.org/W3210431654","https://openalex.org/W4210423514","https://openalex.org/W4249866455","https://openalex.org/W4285102317","https://openalex.org/W4315778466","https://openalex.org/W4315783986","https://openalex.org/W4323241024","https://openalex.org/W4383108717","https://openalex.org/W4383109093","https://openalex.org/W4387090806","https://openalex.org/W4389169483","https://openalex.org/W4389925547","https://openalex.org/W4391768470","https://openalex.org/W4392523504","https://openalex.org/W4393032756","https://openalex.org/W4396753639","https://openalex.org/W4399206551","https://openalex.org/W4401416708","https://openalex.org/W4402260881","https://openalex.org/W4404370924","https://openalex.org/W4410401751"],"related_works":[],"abstract_inverted_index":{"Point":[0,64],"cloud":[1,29,72,108],"registration":[2,50],"is":[3,110,159],"crucial":[4],"for":[5,67,93,143],"autonomous":[6],"vehicle":[7,182],"Radar-based":[8],"localization,":[9],"mapping,":[10],"and":[11,37,69,115,167,179,189],"perception.":[12],"Compared":[13],"to":[14,31,112],"conventional":[15],"Radar,":[16],"4D":[17,42],"Radar":[18,43,59],"offers":[19],"enhanced":[20],"elevation":[21],"information,":[22],"facilitating":[23],"the":[24,34,117,125,137],"generation":[25],"of":[26,41,48,119],"3D":[27],"point":[28,71,107,130],"akin":[30],"LiDAR.":[32],"However,":[33],"inherent":[35],"sparsity":[36],"high":[38,197],"noise":[39],"level":[40],"data":[44],"make":[45],"direct":[46],"adaptation":[47],"LiDAR-based":[49],"methods":[51],"ineffective.":[52],"To":[53,83],"address":[54],"these":[55],"challenges,":[56],"we":[57,75,123],"propose":[58],"Voxelized":[60],"Generalized":[61],"Iterative":[62],"Closest":[63],"(RVGICP)":[65],"algorithm":[66,132],"efficient":[68,101],"rapid":[70],"registration.":[73],"First,":[74],"introduce":[76],"a":[77,147],"dual-stage":[78],"initial":[79,95],"pose":[80],"estimation":[81,103,157],"module.":[82],"robustly":[84],"handle":[85],"large":[86],"inter-scan":[87],"displacements,":[88],"it":[89],"leverages":[90],"Doppler":[91],"velocity":[92],"an":[94,100],"translation":[96],"estimate.":[97],"Complementing":[98],"this,":[99],"rotation":[102],"method":[104],"based":[105,154],"on":[106,175],"histograms":[109],"proposed":[111],"accelerate":[113],"convergence":[114],"mitigate":[116],"risk":[118],"local":[120,164],"minima.":[121],"Second,":[122],"extend":[124],"voxelized":[126],"generalized":[127],"iterative":[128],"closest":[129],"(VGICP)":[131],"by":[133],"performing":[134],"voxelization":[135],"in":[136],"polar":[138],"coordinates,":[139],"enabling":[140],"adaptive":[141],"resolution":[142],"voxel":[144,155],"matching.":[145],"Third,":[146],"<inline-formula":[148],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[149],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[150],"notation=\"LaTeX\">$":[151],"3^{3}$</tex-math></inline-formula>-neighbors":[152],"set":[153],"covariance":[156],"model":[158],"proposed,":[160],"which":[161],"better":[162],"characterizes":[163],"geometric":[165],"properties":[166],"avoids":[168],"computationally":[169],"nearest":[170],"neighbor":[171],"search.":[172],"Extensive":[173],"experiments":[174],"both":[176],"open-source":[177],"datasets":[178],"our":[180],"experimental":[181],"demonstrate":[183],"that":[184],"RVGICP":[185],"achieves":[186],"superior":[187],"accuracy":[188],"robustness":[190],"across":[191],"various":[192],"weather":[193],"conditions":[194],"while":[195],"maintaining":[196],"computational":[198],"efficiency.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-02-11T14:41:00.668223","created_date":"2025-11-23T00:00:00"}