{"id":"https://openalex.org/W4365130397","doi":"https://doi.org/10.1109/tgrs.2023.3266285","title":"PG-Net: Progressive Guidance Network via Robust Contextual Embedding for Efficient Point Cloud Registration","display_name":"PG-Net: Progressive Guidance Network via Robust Contextual Embedding for Efficient Point Cloud Registration","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4365130397","doi":"https://doi.org/10.1109/tgrs.2023.3266285"},"language":"en","primary_location":{"id":"doi:10.1109/tgrs.2023.3266285","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tgrs.2023.3266285","pdf_url":null,"source":{"id":"https://openalex.org/S111326731","display_name":"IEEE Transactions on Geoscience and Remote Sensing","issn_l":"0196-2892","issn":["0196-2892","1558-0644"],"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 Geoscience and Remote Sensing","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/A5101663420","display_name":"Jingtao Wang","orcid":"https://orcid.org/0000-0002-1712-7898"},"institutions":[{"id":"https://openalex.org/I61057504","display_name":"Fujian Agriculture and Forestry University","ror":"https://ror.org/04kx2sy84","country_code":"CN","type":"education","lineage":["https://openalex.org/I61057504"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jingtao Wang","raw_affiliation_strings":["College of Computer and Information Science and Digital Fujian Research Institute of Big Data for Agriculture and Forestry, Fujian Agriculture and Forestry University, Fuzhou, China","Key Laboratory of Smart Agriculture and Forestry (Fujian Agriculture and Forestry University), Fujian Province University, Fuzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer and Information Science and Digital Fujian Research Institute of Big Data for Agriculture and Forestry, Fujian Agriculture and Forestry University, Fuzhou, China","institution_ids":["https://openalex.org/I61057504"]},{"raw_affiliation_string":"Key Laboratory of Smart Agriculture and Forestry (Fujian Agriculture and Forestry University), Fujian Province University, Fuzhou, China","institution_ids":["https://openalex.org/I61057504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114832319","display_name":"Xin Liu","orcid":"https://orcid.org/0000-0002-8407-9099"},"institutions":[{"id":"https://openalex.org/I61057504","display_name":"Fujian Agriculture and Forestry University","ror":"https://ror.org/04kx2sy84","country_code":"CN","type":"education","lineage":["https://openalex.org/I61057504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Liu","raw_affiliation_strings":["College of Computer and Information Science and Digital Fujian Research Institute of Big Data for Agriculture and Forestry, Fujian Agriculture and Forestry University, Fuzhou, China","Key Laboratory of Smart Agriculture and Forestry (Fujian Agriculture and Forestry University), Fujian Province University, Fuzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8407-9099","affiliations":[{"raw_affiliation_string":"College of Computer and Information Science and Digital Fujian Research Institute of Big Data for Agriculture and Forestry, Fujian Agriculture and Forestry University, Fuzhou, China","institution_ids":["https://openalex.org/I61057504"]},{"raw_affiliation_string":"Key Laboratory of Smart Agriculture and Forestry (Fujian Agriculture and Forestry University), Fujian Province University, Fuzhou, China","institution_ids":["https://openalex.org/I61057504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109483631","display_name":"Luanyuan Dai","orcid":"https://orcid.org/0009-0006-6235-2580"},"institutions":[{"id":"https://openalex.org/I61057504","display_name":"Fujian Agriculture and Forestry University","ror":"https://ror.org/04kx2sy84","country_code":"CN","type":"education","lineage":["https://openalex.org/I61057504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Luanyuan Dai","raw_affiliation_strings":["College of Computer and Information Science and Digital Fujian Research Institute of Big Data for Agriculture and Forestry, Fujian Agriculture and Forestry University, Fuzhou, China","Key Laboratory of Smart Agriculture and Forestry (Fujian Agriculture and Forestry University), Fujian Province University, Fuzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer and Information Science and Digital Fujian Research Institute of Big Data for Agriculture and Forestry, Fujian Agriculture and Forestry University, Fuzhou, China","institution_ids":["https://openalex.org/I61057504"]},{"raw_affiliation_string":"Key Laboratory of Smart Agriculture and Forestry (Fujian Agriculture and Forestry University), Fujian Province University, Fuzhou, China","institution_ids":["https://openalex.org/I61057504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040010053","display_name":"Jiayi Ma","orcid":"https://orcid.org/0000-0003-3264-3265"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiayi Ma","raw_affiliation_strings":["Electronic Information School, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-3264-3265","affiliations":[{"raw_affiliation_string":"Electronic Information School, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076088705","display_name":"Lifang Wei","orcid":"https://orcid.org/0000-0001-6358-0274"},"institutions":[{"id":"https://openalex.org/I61057504","display_name":"Fujian Agriculture and Forestry University","ror":"https://ror.org/04kx2sy84","country_code":"CN","type":"education","lineage":["https://openalex.org/I61057504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lifang Wei","raw_affiliation_strings":["College of Computer and Information Science and Digital Fujian Research Institute of Big Data for Agriculture and Forestry, Fujian Agriculture and Forestry University, Fuzhou, China","Key Laboratory of Smart Agriculture and Forestry (Fujian Agriculture and Forestry University), Fujian Province University, Fuzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-6358-0274","affiliations":[{"raw_affiliation_string":"College of Computer and Information Science and Digital Fujian Research Institute of Big Data for Agriculture and Forestry, Fujian Agriculture and Forestry University, Fuzhou, China","institution_ids":["https://openalex.org/I61057504"]},{"raw_affiliation_string":"Key Laboratory of Smart Agriculture and Forestry (Fujian Agriculture and Forestry University), Fujian Province University, Fuzhou, China","institution_ids":["https://openalex.org/I61057504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059464739","display_name":"Changcai Yang","orcid":"https://orcid.org/0000-0003-0996-9718"},"institutions":[{"id":"https://openalex.org/I61057504","display_name":"Fujian Agriculture and Forestry University","ror":"https://ror.org/04kx2sy84","country_code":"CN","type":"education","lineage":["https://openalex.org/I61057504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changcai Yang","raw_affiliation_strings":["College of Computer and Information Science and Digital Fujian Research Institute of Big Data for Agriculture and Forestry, Fujian Agriculture and Forestry University, Fuzhou, China","Key Laboratory of Smart Agriculture and Forestry (Fujian Agriculture and Forestry University), Fujian Province University, Fuzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-0996-9718","affiliations":[{"raw_affiliation_string":"College of Computer and Information Science and Digital Fujian Research Institute of Big Data for Agriculture and Forestry, Fujian Agriculture and Forestry University, Fuzhou, China","institution_ids":["https://openalex.org/I61057504"]},{"raw_affiliation_string":"Key Laboratory of Smart Agriculture and Forestry (Fujian Agriculture and Forestry University), Fujian Province University, Fuzhou, China","institution_ids":["https://openalex.org/I61057504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076921272","display_name":"Riqing Chen","orcid":"https://orcid.org/0000-0001-7828-550X"},"institutions":[{"id":"https://openalex.org/I61057504","display_name":"Fujian Agriculture and Forestry University","ror":"https://ror.org/04kx2sy84","country_code":"CN","type":"education","lineage":["https://openalex.org/I61057504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Riqing Chen","raw_affiliation_strings":["College of Computer and Information Science and Digital Fujian Research Institute of Big Data for Agriculture and Forestry, Fujian Agriculture and Forestry University, Fuzhou, China","Key Laboratory of Smart Agriculture and Forestry (Fujian Agriculture and Forestry University), Fujian Province University, Fuzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer and Information Science and Digital Fujian Research Institute of Big Data for Agriculture and Forestry, Fujian Agriculture and Forestry University, Fuzhou, China","institution_ids":["https://openalex.org/I61057504"]},{"raw_affiliation_string":"Key Laboratory of Smart Agriculture and Forestry (Fujian Agriculture and Forestry University), Fujian Province University, Fuzhou, China","institution_ids":["https://openalex.org/I61057504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101663420"],"corresponding_institution_ids":["https://openalex.org/I61057504"],"apc_list":null,"apc_paid":null,"fwci":5.108,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.94993958,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"61","issue":null,"first_page":"1","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9987000226974487,"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"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9986000061035156,"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/computer-science","display_name":"Computer science","score":0.803902268409729},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.7477847337722778},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7007726430892944},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6231412887573242},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.49249324202537537},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4881230294704437},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.45834845304489136},{"id":"https://openalex.org/keywords/precision-and-recall","display_name":"Precision and recall","score":0.4304753541946411},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.41145285964012146},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3776668608188629}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.803902268409729},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.7477847337722778},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7007726430892944},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6231412887573242},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.49249324202537537},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4881230294704437},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.45834845304489136},{"id":"https://openalex.org/C81669768","wikidata":"https://www.wikidata.org/wiki/Q2359161","display_name":"Precision and recall","level":2,"score":0.4304753541946411},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.41145285964012146},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3776668608188629},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tgrs.2023.3266285","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tgrs.2023.3266285","pdf_url":null,"source":{"id":"https://openalex.org/S111326731","display_name":"IEEE Transactions on Geoscience and Remote Sensing","issn_l":"0196-2892","issn":["0196-2892","1558-0644"],"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 Geoscience and Remote Sensing","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3770677330","display_name":null,"funder_award_id":"61802064","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G508681563","display_name":null,"funder_award_id":"62171130","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5420527877","display_name":null,"funder_award_id":"61972093","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W2049981393","https://openalex.org/W2083624955","https://openalex.org/W2085261163","https://openalex.org/W2115579991","https://openalex.org/W2124141313","https://openalex.org/W2130017587","https://openalex.org/W2160821342","https://openalex.org/W2166820607","https://openalex.org/W2265661972","https://openalex.org/W2271206385","https://openalex.org/W2519911873","https://openalex.org/W2560609797","https://openalex.org/W2566265240","https://openalex.org/W2740578684","https://openalex.org/W2800324071","https://openalex.org/W2912147220","https://openalex.org/W2915505642","https://openalex.org/W2924259647","https://openalex.org/W2962828767","https://openalex.org/W2963125010","https://openalex.org/W2963264709","https://openalex.org/W2963847924","https://openalex.org/W2981995220","https://openalex.org/W2990655570","https://openalex.org/W2994922082","https://openalex.org/W3034675048","https://openalex.org/W3035030518","https://openalex.org/W3035490780","https://openalex.org/W3035563186","https://openalex.org/W3046194589","https://openalex.org/W3046559354","https://openalex.org/W3047057232","https://openalex.org/W3047504807","https://openalex.org/W3092073700","https://openalex.org/W3111598592","https://openalex.org/W3122753680","https://openalex.org/W3127831797","https://openalex.org/W3135301258","https://openalex.org/W3158076487","https://openalex.org/W3166975282","https://openalex.org/W3176124701","https://openalex.org/W3177280664","https://openalex.org/W3185902918","https://openalex.org/W3198240092","https://openalex.org/W3214555988","https://openalex.org/W3216353509","https://openalex.org/W4205370808","https://openalex.org/W4214688548","https://openalex.org/W4225574139","https://openalex.org/W4226346514","https://openalex.org/W4226373316","https://openalex.org/W4283732315","https://openalex.org/W4285803058","https://openalex.org/W4294982605","https://openalex.org/W4309211214","https://openalex.org/W4312867066","https://openalex.org/W4313267411","https://openalex.org/W4388820233","https://openalex.org/W6788271636","https://openalex.org/W6791205910","https://openalex.org/W6800669910","https://openalex.org/W6810730679","https://openalex.org/W6853559383"],"related_works":["https://openalex.org/W3006513224","https://openalex.org/W2046456988","https://openalex.org/W3016928466","https://openalex.org/W2357409937","https://openalex.org/W4389574804","https://openalex.org/W2978674666","https://openalex.org/W2074430941","https://openalex.org/W2113096305","https://openalex.org/W2936725271","https://openalex.org/W3150655618"],"abstract_inverted_index":{"Building":[0],"high-quality":[1],"correspondences":[2,67,74],"is":[3],"critical":[4],"in":[5,141],"the":[6,63,70,111,129,169,178,184,188],"feature-based":[7],"point":[8],"cloud":[9],"registration":[10,179],"pipelines.":[11],"However,":[12],"existing":[13],"single-sequence":[14],"learning":[15],"frameworks":[16],"are":[17],"difficult":[18],"to":[19,46,68,86,94,109,127,168],"accurately":[20],"and":[21,51,115,135,149],"adequately":[22],"capture":[23,96],"contextual":[24,49,84,97],"information,":[25,98],"leaving":[26],"a":[27,41,57,101,121,137,142],"large":[28],"proportion":[29],"of":[30,66,72,113,132],"outliers":[31],"between":[32],"two":[33],"low-overlap":[34],"scenes.":[35],"In":[36,92],"this":[37],"paper,":[38],"we":[39,55,99,119],"present":[40],"progressive":[42],"guidance":[43],"network":[44,173],"(PG-Net)":[45],"gather":[47],"rich":[48],"information":[50,85],"exclude":[52],"outliers.":[53],"Specifically,":[54],"design":[56],"novel":[58],"iterative":[59],"structure":[60,77],"that":[61,158],"exploits":[62],"inlier":[64,130],"probabilities":[65],"guide":[69],"classification":[71],"initial":[73],"progressively.":[75],"This":[76],"can":[78],"mitigate":[79],"outlier":[80,163,171],"effects":[81],"with":[82,187],"robust":[83],"obtain":[87],"more":[88],"accurate":[89],"model":[90,140],"estimation.":[91],"addition,":[93],"sufficiently":[95],"propose":[100,120],"grouped":[102],"dense":[103],"fusion":[104],"attention":[105],"feature":[106],"embedding":[107],"module":[108,126],"enhance":[110],"representation":[112],"inliers":[114],"significant":[116],"channel-spatial.":[117],"Meanwhile,":[118],"two-stage":[122],"neural":[123],"spectral":[124],"matching":[125],"compute":[128],"probability":[131],"each":[133],"correspondence":[134],"estimate":[136],"3D":[138,154],"transformation":[139],"coarse-to-fine":[143],"manner.":[144],"Experiments":[145],"results":[146],"on":[147,183],"indoor":[148,185],"outdoor":[150],"datasets":[151],"using":[152],"distinct":[153],"local":[155],"descriptors":[156],"demonstrate":[157],"our":[159,175],"PG-Net":[160,176],"surpasses":[161],"state-of-the-art":[162],"removal":[164,172],"methods.":[165],"Especially":[166],"compared":[167],"recent":[170],"PointDSC,":[174],"improves":[177],"recall":[180],"by":[181],"4.06%":[182],"dataset":[186],"FPFH":[189],"descriptor.":[190],"Source":[191],"code:":[192],"https://github.com/changcaiyang/PG-Net.":[193]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}