{"id":"https://openalex.org/W3213343147","doi":"https://doi.org/10.1109/tase.2021.3127172","title":"Joint Rigid Registration of Multiple Generalized Point Sets With Anisotropic Positional Uncertainties in Image-Guided Surgery","display_name":"Joint Rigid Registration of Multiple Generalized Point Sets With Anisotropic Positional Uncertainties in Image-Guided Surgery","publication_year":2021,"publication_date":"2021-11-17","ids":{"openalex":"https://openalex.org/W3213343147","doi":"https://doi.org/10.1109/tase.2021.3127172","mag":"3213343147"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2021.3127172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3127172","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","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/A5040071840","display_name":"Zhe Min","orcid":"https://orcid.org/0000-0002-8903-1561"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Zhe Min","raw_affiliation_strings":["Department of Medical Physics and Biomedical Engineering, University College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Medical Physics and Biomedical Engineering, University College London, London, U.K","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048709541","display_name":"Jiaole Wang","orcid":"https://orcid.org/0000-0002-0941-8003"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaole Wang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","Shenzhen Research Institute, The Chinese University of Hong Kong, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Shenzhen Research Institute, The Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5040071840"],"corresponding_institution_ids":["https://openalex.org/I45129253"],"apc_list":null,"apc_paid":null,"fwci":4.3778,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.95423841,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"19","issue":"4","first_page":"3612","last_page":"3627"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980999827384949,"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":0.9980999827384949,"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/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9957000017166138,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9943000078201294,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/expectation\u2013maximization-algorithm","display_name":"Expectation\u2013maximization algorithm","score":0.6288048028945923},{"id":"https://openalex.org/keywords/point-set-registration","display_name":"Point set registration","score":0.6039502620697021},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5869242548942566},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.515354335308075},{"id":"https://openalex.org/keywords/mixture-model","display_name":"Mixture model","score":0.5096898078918457},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.48993581533432007},{"id":"https://openalex.org/keywords/multivariate-normal-distribution","display_name":"Multivariate normal distribution","score":0.4845530092716217},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48016658425331116},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.455244243144989},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.4244031310081482},{"id":"https://openalex.org/keywords/probability-density-function","display_name":"Probability density function","score":0.4236883223056793},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.41076111793518066},{"id":"https://openalex.org/keywords/generalized-normal-distribution","display_name":"Generalized normal distribution","score":0.4101756513118744},{"id":"https://openalex.org/keywords/normal-distribution","display_name":"Normal distribution","score":0.3968593180179596},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38107290863990784},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.36538416147232056},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.3023265302181244},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13405555486679077},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.12444132566452026},{"id":"https://openalex.org/keywords/maximum-likelihood","display_name":"Maximum likelihood","score":0.10858523845672607},{"id":"https://openalex.org/keywords/multivariate-statistics","display_name":"Multivariate statistics","score":0.10748007893562317}],"concepts":[{"id":"https://openalex.org/C182081679","wikidata":"https://www.wikidata.org/wiki/Q1275153","display_name":"Expectation\u2013maximization algorithm","level":3,"score":0.6288048028945923},{"id":"https://openalex.org/C200336642","wikidata":"https://www.wikidata.org/wiki/Q15058706","display_name":"Point set registration","level":3,"score":0.6039502620697021},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5869242548942566},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.515354335308075},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.5096898078918457},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.48993581533432007},{"id":"https://openalex.org/C177384507","wikidata":"https://www.wikidata.org/wiki/Q1149000","display_name":"Multivariate normal distribution","level":3,"score":0.4845530092716217},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48016658425331116},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.455244243144989},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.4244031310081482},{"id":"https://openalex.org/C197055811","wikidata":"https://www.wikidata.org/wiki/Q207522","display_name":"Probability density function","level":2,"score":0.4236883223056793},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.41076111793518066},{"id":"https://openalex.org/C171383496","wikidata":"https://www.wikidata.org/wiki/Q2497477","display_name":"Generalized normal distribution","level":3,"score":0.4101756513118744},{"id":"https://openalex.org/C102094743","wikidata":"https://www.wikidata.org/wiki/Q133871","display_name":"Normal distribution","level":2,"score":0.3968593180179596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38107290863990784},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.36538416147232056},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3023265302181244},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13405555486679077},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.12444132566452026},{"id":"https://openalex.org/C49781872","wikidata":"https://www.wikidata.org/wiki/Q1045555","display_name":"Maximum likelihood","level":2,"score":0.10858523845672607},{"id":"https://openalex.org/C161584116","wikidata":"https://www.wikidata.org/wiki/Q1952580","display_name":"Multivariate statistics","level":2,"score":0.10748007893562317},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tase.2021.3127172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3127172","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10144557","is_oa":false,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10144557/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"   IEEE Transactions on Automation Science and Engineering       (2021)      ","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5736026126","display_name":null,"funder_award_id":"2019YFB1312400","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6116507787","display_name":null,"funder_award_id":"N_CUHK448/17","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W327180933","https://openalex.org/W1970642064","https://openalex.org/W2009086942","https://openalex.org/W2015901765","https://openalex.org/W2028587221","https://openalex.org/W2059569291","https://openalex.org/W2063549868","https://openalex.org/W2071992612","https://openalex.org/W2074693620","https://openalex.org/W2074805944","https://openalex.org/W2084461520","https://openalex.org/W2104673011","https://openalex.org/W2105413810","https://openalex.org/W2114354851","https://openalex.org/W2118026950","https://openalex.org/W2134236847","https://openalex.org/W2150190641","https://openalex.org/W2161098086","https://openalex.org/W2176551120","https://openalex.org/W2211633734","https://openalex.org/W2491697916","https://openalex.org/W2584885816","https://openalex.org/W2588230476","https://openalex.org/W2594495318","https://openalex.org/W2597187707","https://openalex.org/W2604257183","https://openalex.org/W2654024950","https://openalex.org/W2740578684","https://openalex.org/W2751378974","https://openalex.org/W2762011240","https://openalex.org/W2762468750","https://openalex.org/W2765600535","https://openalex.org/W2769591697","https://openalex.org/W2774328584","https://openalex.org/W2793890232","https://openalex.org/W2802390430","https://openalex.org/W2809795042","https://openalex.org/W2810468710","https://openalex.org/W2883357174","https://openalex.org/W2887199270","https://openalex.org/W2889300857","https://openalex.org/W2889784867","https://openalex.org/W2895180691","https://openalex.org/W2898541470","https://openalex.org/W2908684560","https://openalex.org/W2909289995","https://openalex.org/W2924259647","https://openalex.org/W2934318214","https://openalex.org/W2941298512","https://openalex.org/W2947459843","https://openalex.org/W2948628183","https://openalex.org/W2962941647","https://openalex.org/W2963666542","https://openalex.org/W2963847924","https://openalex.org/W2964014140","https://openalex.org/W2979400304","https://openalex.org/W3035490780","https://openalex.org/W3111598592","https://openalex.org/W4212863985","https://openalex.org/W4248598408","https://openalex.org/W6682124274","https://openalex.org/W6745967568","https://openalex.org/W6756293900","https://openalex.org/W6756409600","https://openalex.org/W6761706501"],"related_works":["https://openalex.org/W4221141070","https://openalex.org/W2114354851","https://openalex.org/W3146823194","https://openalex.org/W1589920402","https://openalex.org/W1967460951","https://openalex.org/W2380185275","https://openalex.org/W3213343147","https://openalex.org/W2114010376","https://openalex.org/W2351973315","https://openalex.org/W2624070586"],"abstract_inverted_index":{"In":[0,61,104],"medical":[1],"image":[2],"analysis":[3],"(MIA)":[4],"and":[5,83,96,135,159,193,269,300,306,344,377,403],"computer-assisted":[6],"surgery":[7],"(CAS),":[8],"aligning":[9,27,45],"two":[10,283],"multiple":[11,28,68],"point":[12,29,70,151,327],"sets":[13,30,328],"(PSs)":[14],"together":[15],"is":[16,36,55,152,174,185,212,339,360,369,407],"an":[17,148],"essential":[18],"but":[19],"also":[20],"a":[21,37,76,178,188,249,255,372],"challenging":[22],"problem.":[23],"For":[24],"example,":[25],"rigidly":[26],"into":[31,371],"one":[32],"common":[33],"coordinate":[34],"frame":[35],"prerequisite":[38],"for":[39,410],"statistical":[40],"shape":[41],"modelling":[42],"(SSM).":[43],"Accurately":[44],"the":[46,50,67,81,84,105,109,119,130,133,139,142,155,165,171,196,207,232,279,293,318,326,332,335,348,363,380,392,414],"pre-operative":[47],"space":[48,52],"with":[49,297],"intra-operative":[51],"in":[53,75,168,331],"CAS":[54],"very":[56],"crucial":[57],"to":[58,112,117,163,176,215,267,272,304,341,350,401],"successful":[59],"interventions.":[60],"this":[62],"article,":[63],"we":[64],"formally":[65],"formulate":[66],"generalized":[69,102,110,150],"set":[71],"registration":[72,289,367,394,415],"problem":[73,280,368,376],"(MGPSR)":[74],"probabilistic":[77],"manner,":[78],"where":[79],"both":[80,94],"positional":[82,95,134,172,294,336],"normal":[85,97,140,208,319],"vectors":[86,91,98,137,320],"are":[87,99,115,311,329,353],"used.":[88],"The":[89,366,405],"six-dimensional":[90],"consisting":[92],"of":[93,121,132,147,157,247,281],"called":[100],"as":[101,154,187,362,418],"points.":[103],"formulated":[106,186],"model,":[107],"all":[108,219,347],"PSs":[111,184,220,349],"be":[113,118,323,342,351],"registered":[114,352],"considered":[116,361],"realizations":[120],"underlying":[122],"unknown":[123],"hybrid":[124],"mixture":[125],"models":[126],"(HMMs).":[127],"By":[128,201,217],"assuming":[129],"independence":[131],"orientational":[136],"(i.e.,":[138,206],"vectors),":[141,209],"probability":[143],"density":[144],"function":[145],"(PDF)":[146],"observed":[149],"computed":[153],"product":[156],"Gaussian":[158,180],"Fisher":[160],"distributions.":[161],"Furthermore,":[162],"consider":[164],"anisotropic":[166,343],"noise":[167,268,305,402],"surgical":[169],"navigation,":[170],"error":[173,337],"assumed":[175,340],"obey":[177],"multi-variate":[179],"distribution.":[181],"Finally,":[182],"registering":[183,282],"maximum":[189,373],"likelihood":[190,374],"(ML)":[191,375],"problem,":[192],"solved":[194,378],"under":[195,379],"expectation":[197,381],"maximization":[198,382],"(EM)":[199,383],"technique.":[200],"using":[202],"more":[203,213,285],"enriched":[204],"information":[205,295],"our":[210,222,262,314],"algorithm":[211,223,406],"robust":[214],"outliers.":[216,270,307,404],"treating":[218],"equally,":[221],"does":[224],"not":[225],"bias":[226],"towards":[227],"any":[228],"PS.":[229],"To":[230],"validate":[231],"proposed":[233,315,393],"approach,":[234],"extensive":[235,389],"experiments":[236,390],"have":[237,386],"been":[238],"conducted":[239],"on":[240],"surface":[241],"points":[242],"extracted":[243,324],"from":[244,325],"CT":[245],"images":[246],"(i)":[248],"human":[250,256],"femur":[251],"bone":[252,258],"model;":[253],"(ii)":[254],"pelvis":[257],"model.":[259],"Results":[260],"demonstrate":[261],"algorithm\u2019s":[263],"high":[264],"accuracy,":[265,399],"robustness":[266,303,400],"Note":[271],"Practitioners\u2014This":[273],"paper":[274],"was":[275],"motivated":[276],"by":[277,313],"solving":[278],"or":[284],"PSs.":[286],"Most":[287],"existing":[288],"approaches":[290],"use":[291],"only":[292],"associated":[296],"each":[298],"point,":[299],"thus":[301],"lacks":[302],"Three":[308],"significant":[309],"improvements":[310],"brought":[312],"approach.":[316],"First,":[317],"that":[321,356,391],"can":[322],"utilized":[330],"registration.":[333],"Second,":[334],"distribution":[338],"inhomogeneous.":[345],"Third,":[346],"treated":[354],"equally":[355],"means":[357],"no":[358],"PS":[359],"model":[364],"one.":[365],"cast":[370],"framework.":[384],"We":[385],"demonstrated":[387],"through":[388],"approach":[395],"achieves":[396],"significantly":[397],"improved":[398],"particularly":[408],"suitable":[409],"biomedical":[411],"applications":[412],"involving":[413],"procedures,":[416],"such":[417],"image-guided":[419],"surgery.":[420]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}