{"id":"https://openalex.org/W4386918963","doi":"https://doi.org/10.1109/tase.2023.3313773","title":"Generalized 3-D Rigid Point Set Registration With Bidirectional Hybrid Mixture Models","display_name":"Generalized 3-D Rigid Point Set Registration With Bidirectional Hybrid Mixture Models","publication_year":2023,"publication_date":"2023-09-21","ids":{"openalex":"https://openalex.org/W4386918963","doi":"https://doi.org/10.1109/tase.2023.3313773"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3313773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3313773","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/A5101541870","display_name":"Ang Zhang","orcid":"https://orcid.org/0000-0002-0749-5822"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Ang Zhang","raw_affiliation_strings":["Yuanhua Robotics, Perception &#x0026; AI Technologies Ltd., Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Yuanhua Robotics, Perception &#x0026; AI Technologies Ltd., Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040071840","display_name":"Zhe Min","orcid":"https://orcid.org/0000-0002-8903-1561"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhe Min","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100418896","display_name":"Li Liu","orcid":null},"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"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Li Liu","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"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, Hong Kong","Shenzhen Research Institute, The Chinese University of Hong Kong at Shenzhen, 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, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Shenzhen Research Institute, The Chinese University of Hong Kong at Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101541870"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8364,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.75373251,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"21","issue":"4","first_page":"5599","last_page":"5610"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9923999905586243,"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"}},"topics":[{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9923999905586243,"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/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9908999800682068,"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":0.9879999756813049,"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/set","display_name":"Set (abstract data type)","score":0.5136327147483826},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4972288906574249},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4089791774749756},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4087701439857483},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4013513922691345},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35445162653923035},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3409457802772522},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.19524753093719482}],"concepts":[{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5136327147483826},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4972288906574249},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4089791774749756},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4087701439857483},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4013513922691345},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35445162653923035},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3409457802772522},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.19524753093719482},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2023.3313773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3313773","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5753678616","display_name":null,"funder_award_id":"62303275","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation 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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W78351518","https://openalex.org/W327180933","https://openalex.org/W1920539520","https://openalex.org/W1994104838","https://openalex.org/W2074693620","https://openalex.org/W2083624955","https://openalex.org/W2114065690","https://openalex.org/W2134236847","https://openalex.org/W2145001205","https://openalex.org/W2150190641","https://openalex.org/W2171490473","https://openalex.org/W2271206385","https://openalex.org/W2338121015","https://openalex.org/W2344109021","https://openalex.org/W2560851484","https://openalex.org/W2594495318","https://openalex.org/W2597187707","https://openalex.org/W2738467687","https://openalex.org/W2740578684","https://openalex.org/W2801001587","https://openalex.org/W2809795042","https://openalex.org/W2810112987","https://openalex.org/W2891590469","https://openalex.org/W2942351283","https://openalex.org/W2946305700","https://openalex.org/W2963264709","https://openalex.org/W2963720324","https://openalex.org/W2964786627","https://openalex.org/W2979988078","https://openalex.org/W2986382673","https://openalex.org/W3005226310","https://openalex.org/W3012852601","https://openalex.org/W3013243617","https://openalex.org/W3034295752","https://openalex.org/W3035030518","https://openalex.org/W3035338950","https://openalex.org/W3047057232","https://openalex.org/W3092523194","https://openalex.org/W3092856933","https://openalex.org/W3096538374","https://openalex.org/W3100043883","https://openalex.org/W3111598592","https://openalex.org/W3118688377","https://openalex.org/W3131423830","https://openalex.org/W3135301258","https://openalex.org/W3148983743","https://openalex.org/W3163789542","https://openalex.org/W3164895572","https://openalex.org/W3165061275","https://openalex.org/W3177280664","https://openalex.org/W3198240092","https://openalex.org/W3206918971","https://openalex.org/W3214555988","https://openalex.org/W4200030083","https://openalex.org/W4214707182","https://openalex.org/W4226397702","https://openalex.org/W4250356496","https://openalex.org/W4283331827","https://openalex.org/W4285102192","https://openalex.org/W4285803058","https://openalex.org/W4296194900","https://openalex.org/W4305037849","https://openalex.org/W4312306425","https://openalex.org/W4364322751","https://openalex.org/W6682124274","https://openalex.org/W6791205910","https://openalex.org/W6845932765"],"related_works":["https://openalex.org/W2051487156","https://openalex.org/W2073681303","https://openalex.org/W2053286651","https://openalex.org/W2181743346","https://openalex.org/W2187401768","https://openalex.org/W2181413294","https://openalex.org/W2989452537","https://openalex.org/W2052122378","https://openalex.org/W2544423928","https://openalex.org/W4382602924"],"abstract_inverted_index":{"In":[0],"medical":[1,20,294],"robotics":[2],"and":[3,25,46,53,94,143,165,171,178,262],"image-guided":[4],"surgery":[5],"(IGS),":[6],"registration":[7,28,194],"is":[8,111,122,231,237,263],"needed":[9],"in":[10,49,57,69,202,220,251,256],"order":[11],"to":[12,35,43,61,101,140,184,259,286,290],"align":[13],"together":[14],"the":[15,41,66,75,103,125,169,199,213,226,240,281,298,309],"coordinate":[16],"frames":[17],"of":[18,162,173,217,314],"robots,":[19],"imaging":[21],"modalities,":[22],"surgical":[23],"tools,":[24],"patients.":[26],"Existing":[27],"algorithms":[29,245],"often":[30],"assume":[31],"one":[32],"point":[33,59,157,192,204,300],"set":[34,193],"be":[36,62,260,287],"a":[37,115,189,221],"noise-free":[38],"model":[39,230],"while":[40],"other":[42],"contain":[44],"noise":[45,52,110,201,253],"outliers.":[47],"However,":[48],"real":[50],"scenarios,":[51,295],"outliers":[54],"can":[55],"exist":[56],"both":[58,203,257],"sets":[60,205,301],"registered.":[63],"To":[64],"eliminate":[65],"above-mentioned":[67],"challenge,":[68],"this":[70],"paper,":[71],"we":[72],"formally":[73],"formulate":[74],"Bi-directional":[76,127],"Generalised":[77,128],"Rigid":[78],"Point":[79,131],"Set":[80],"Registration":[81],"(Bi-GRPSR)":[82],"problem":[83],"where":[84,134],"normal":[85],"vectors":[86],"are":[87,99,138,149,246,302],"adopted,":[88],"bi-directional":[89,222,227],"probability":[90,214],"density":[91,215],"function":[92,236],"(PDFs)":[93],"Hybrid":[95],"Mixture":[96],"Models":[97],"(HMMs)":[98],"constructed":[100],"derive":[102],"objective":[104,235],"function.":[105],"Bi-GRPSR":[106],"considering":[107],"anisotropic":[108,200],"positional":[109],"thus":[112],"cast":[113],"as":[114],"maximum":[116],"likelihood":[117],"estimation":[118],"(MLE)":[119],"problem,":[120],"which":[121,225,279],"solved":[123],"by":[124],"proposed":[126,209,267],"Anisotropic":[129],"Coherent":[130],"Drift":[132],"(Bi-AGCPD)":[133],"spatially":[135],"nearby":[136],"points":[137,219],"considered":[139],"move":[141],"coherently":[142],"iterative":[144],"expectation":[145,241],"maximization":[146],"(EM)":[147],"steps":[148],"involved.":[150],"Experimental":[151],"results":[152,272],"on":[153,273],"two":[154,274,299],"human":[155,275],"bone":[156,277],"sets,":[158],"under":[159],"different":[160],"settings":[161],"noise,":[163],"outliers,":[164],"overlapping":[166],"ratios,":[167],"validate":[168],"effectiveness":[170],"improvements":[172],"Bi-AGCPD":[174],"over":[175],"existing":[176],"probabilistic":[177],"learning-based":[179],"methods.":[180],"<italic":[181],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[182],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[183],"Practitioners</i>":[185],"\u2014This":[186],"paper":[187],"presents":[188],"novel":[190],"rigid":[191],"method":[195,268,311],"that":[196,252,297],"explicitly":[197],"takes":[198],"into":[206,312],"account.":[207],"The":[208,233,244,266],"framework":[210],"first":[211],"formulates":[212],"functions":[216],"generalised":[218],"way,":[223],"with":[224,239],"hybrid":[228],"mixture":[229],"built.":[232],"resulting":[234],"minimised":[238],"maximisation":[242],"technique.":[243],"essential":[247],"for":[248,284],"real-world":[249],"applications":[250],"usually":[254],"exists":[255],"spaces":[258],"registered":[261],"generally":[264],"anisotropic.":[265],"has":[269],"demonstrated":[270],"promising":[271],"femur":[276],"models,":[278],"indicates":[280],"great":[282],"potential":[283],"it":[285],"readily":[288],"applied":[289],"related":[291],"applications,":[292],"especially":[293],"given":[296],"coarsely":[303],"aligned.":[304],"Future":[305],"work":[306],"will":[307],"extend":[308],"presented":[310],"scenarios":[313],"global":[315],"registration.":[316]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
