{"id":"https://openalex.org/W4226363413","doi":"https://doi.org/10.1109/tcyb.2022.3168938","title":"Generalized <i>n</i>-Dimensional Rigid Registration: Theory and Applications","display_name":"Generalized <i>n</i>-Dimensional Rigid Registration: Theory and Applications","publication_year":2022,"publication_date":"2022-05-04","ids":{"openalex":"https://openalex.org/W4226363413","doi":"https://doi.org/10.1109/tcyb.2022.3168938","pmid":"https://pubmed.ncbi.nlm.nih.gov/35507617"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2022.3168938","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2022.3168938","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://repository.hkust.edu.hk/ir/bitstream/1783.1-117003/1/117003-1.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078883186","display_name":"Jin Wu","orcid":"https://orcid.org/0000-0001-5930-4170"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Jin Wu","raw_affiliation_strings":["Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100343762","display_name":"Miaomiao Wang","orcid":"https://orcid.org/0000-0001-7498-5162"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Miaomiao Wang","raw_affiliation_strings":["Department of Electronic and Computer Engineering, University of Western Ontario, London, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, University of Western Ontario, London, ON, Canada","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008384064","display_name":"Hassen Fourati","orcid":"https://orcid.org/0000-0002-8398-7183"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"id":"https://openalex.org/I4210124956","display_name":"GIPSA-Lab","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Hassen Fourati","raw_affiliation_strings":["University Grenoble Alpes, CNRS, GIPSALab, Grenoble, France","Inria, Grenoble, France"],"affiliations":[{"raw_affiliation_string":"University Grenoble Alpes, CNRS, GIPSALab, Grenoble, France","institution_ids":["https://openalex.org/I899635006","https://openalex.org/I4210124956","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Inria, Grenoble, France","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I4210101348","https://openalex.org/I899635006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064149604","display_name":"Hui Li","orcid":"https://orcid.org/0000-0003-4550-7879"},"institutions":[{"id":"https://openalex.org/I111599522","display_name":"Jiangnan University","ror":"https://ror.org/04mkzax54","country_code":"CN","type":"education","lineage":["https://openalex.org/I111599522"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Li","raw_affiliation_strings":["School of Artificial Intelligence and Computer Science, Jiangnan University, Wuxi, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Computer Science, Jiangnan University, Wuxi, China","institution_ids":["https://openalex.org/I111599522"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067350621","display_name":"Yilong Zhu","orcid":"https://orcid.org/0000-0001-5332-0794"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yilong Zhu","raw_affiliation_strings":["Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002568038","display_name":"Chengxi Zhang","orcid":"https://orcid.org/0000-0002-3130-6497"},"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":"Chengxi Zhang","raw_affiliation_strings":["School of Electronic and Information Engineering, Harbin Institute of Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100396295","display_name":"Yi Jiang","orcid":"https://orcid.org/0000-0001-8927-0119"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yi Jiang","raw_affiliation_strings":["Department of Biomedical Engineering, City University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, City University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021447091","display_name":"Xiangcheng Hu","orcid":"https://orcid.org/0000-0003-3535-6886"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xiangcheng Hu","raw_affiliation_strings":["Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100347785","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0002-4500-238X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ming Liu","raw_affiliation_strings":["Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5078883186"],"corresponding_institution_ids":["https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":1.2747,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.87768313,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"53","issue":"2","first_page":"927","last_page":"940"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9933000206947327,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"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/computer-science","display_name":"Computer science","score":0.41207262873649597},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.377811461687088},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33665046095848083},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.329458087682724}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41207262873649597},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.377811461687088},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33665046095848083},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.329458087682724}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/tcyb.2022.3168938","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2022.3168938","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:35507617","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35507617","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-117003","is_oa":true,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-117003","pdf_url":"https://repository.hkust.edu.hk/ir/bitstream/1783.1-117003/1/117003-1.pdf","source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:HAL:hal-03648274v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03648274","pdf_url":"https://hal.science/hal-03648274/document","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://ieeexplore.ieee.org/abstract/document/9768182","raw_type":"Journal articles"},{"id":"pmh:oai:repository.ust.hk:1783.1-117003","is_oa":false,"landing_page_url":"http://repository.ust.hk/ir/Record/1783.1-117003","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-117003","is_oa":true,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-117003","pdf_url":"https://repository.hkust.edu.hk/ir/bitstream/1783.1-117003/1/117003-1.pdf","source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2245925068","display_name":null,"funder_award_id":"JCYJ20160401100022706","funder_id":"https://openalex.org/F4320326705","funder_display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality"},{"id":"https://openalex.org/G2981938667","display_name":null,"funder_award_id":"Shenzhen","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G344950217","display_name":null,"funder_award_id":"U1836218","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3560337782","display_name":null,"funder_award_id":"201604","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3757194791","display_name":null,"funder_award_id":"JCYJ20","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5939423041","display_name":null,"funder_award_id":"Technology","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","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/F4320322296","display_name":"Jiangnan University","ror":"https://ror.org/04mkzax54"},{"id":"https://openalex.org/F4320326705","display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4226363413.pdf"},"referenced_works_count":69,"referenced_works":["https://openalex.org/W196239571","https://openalex.org/W1487267921","https://openalex.org/W1488782662","https://openalex.org/W1561337879","https://openalex.org/W1977476245","https://openalex.org/W1977797250","https://openalex.org/W1988874269","https://openalex.org/W1993267444","https://openalex.org/W2003612343","https://openalex.org/W2014537335","https://openalex.org/W2014915266","https://openalex.org/W2022193415","https://openalex.org/W2032248989","https://openalex.org/W2040355963","https://openalex.org/W2043887556","https://openalex.org/W2044341216","https://openalex.org/W2049981393","https://openalex.org/W2058467770","https://openalex.org/W2071042199","https://openalex.org/W2097649661","https://openalex.org/W2114065690","https://openalex.org/W2115579991","https://openalex.org/W2125691646","https://openalex.org/W2128019145","https://openalex.org/W2131420149","https://openalex.org/W2133717908","https://openalex.org/W2136517446","https://openalex.org/W2139442815","https://openalex.org/W2147102157","https://openalex.org/W2150382645","https://openalex.org/W2159593339","https://openalex.org/W2164182702","https://openalex.org/W2167916881","https://openalex.org/W2169901455","https://openalex.org/W2296543004","https://openalex.org/W2321847991","https://openalex.org/W2341115255","https://openalex.org/W2344109021","https://openalex.org/W2460769332","https://openalex.org/W2482726005","https://openalex.org/W2521006509","https://openalex.org/W2547811925","https://openalex.org/W2608231861","https://openalex.org/W2735907638","https://openalex.org/W2739590438","https://openalex.org/W2742540092","https://openalex.org/W2744226592","https://openalex.org/W2745859992","https://openalex.org/W2803474737","https://openalex.org/W2805367346","https://openalex.org/W2810112987","https://openalex.org/W2886021428","https://openalex.org/W2895264376","https://openalex.org/W2900535930","https://openalex.org/W2900662265","https://openalex.org/W2902232651","https://openalex.org/W2904025593","https://openalex.org/W2909507558","https://openalex.org/W2948033858","https://openalex.org/W2964321586","https://openalex.org/W2965365980","https://openalex.org/W3083525451","https://openalex.org/W3101379791","https://openalex.org/W3101581645","https://openalex.org/W3103410326","https://openalex.org/W3103458591","https://openalex.org/W3123792347","https://openalex.org/W3125449081","https://openalex.org/W6607981818"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4391375266","https://openalex.org/W1979597421","https://openalex.org/W2007980826","https://openalex.org/W2061531152","https://openalex.org/W3002753104","https://openalex.org/W2077600819","https://openalex.org/W2142036596","https://openalex.org/W2072657027"],"abstract_inverted_index":{"The":[0,11,25,84],"generalized":[1],"rigid":[2],"registration":[3,39],"problem":[4,33,93],"in":[5,112],"high-dimensional":[6],"Euclidean":[7,97],"spaces":[8],"is":[9,14,34,87],"studied.":[10],"loss":[12],"function":[13],"minimized":[15],"with":[16,71,100],"an":[17,91],"equivalent":[18],"error":[19],"formulation":[20],"by":[21],"the":[22,38,56,59,95],"Cayley":[23],"formula.":[24],"closed-form":[26],"linear":[27,80],"least-square":[28],"solution":[29],"to":[30,90],"such":[31],"a":[32],"derived":[35],"which":[36],"generates":[37],"covariances,":[40],"i.e.,":[41],"uncertainty":[42],"information":[43],"of":[44,58],"rotation":[45],"and":[46,62,79],"translation,":[47],"providing":[48],"quite":[49],"accurate":[50],"probabilistic":[51],"descriptions.":[52],"Simulation":[53],"results":[54],"indicate":[55],"correctness":[57],"proposed":[60,85],"method":[61],"also":[63],"present":[64],"its":[65],"efficiency":[66],"on":[67,94,105],"computation-time":[68],"consumption,":[69],"compared":[70],"previous":[72],"algorithms":[73],"using":[74],"singular":[75],"value":[76],"decomposition":[77],"(SVD)":[78],"matrix":[81],"inequality":[82],"(LMI).":[83],"scheme":[86],"then":[88],"applied":[89],"interpolation":[92],"special":[96],"group":[98],"SE(n)":[99],"covariance-preserving":[101],"functionality.":[102],"Finally,":[103],"experiments":[104],"covariance-aided":[106],"Lidar":[107],"mapping":[108],"show":[109],"practical":[110],"superiority":[111],"robotic":[113],"navigation.":[114]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2022-05-05T00:00:00"}
