{"id":"https://openalex.org/W4404341178","doi":"https://doi.org/10.1109/tgrs.2024.3488502","title":"Micro-Structures Graph-Based Point Cloud Registration for Balancing Efficiency and Accuracy","display_name":"Micro-Structures Graph-Based Point Cloud Registration for Balancing Efficiency and Accuracy","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4404341178","doi":"https://doi.org/10.1109/tgrs.2024.3488502"},"language":"en","primary_location":{"id":"doi:10.1109/tgrs.2024.3488502","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tgrs.2024.3488502","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2410.21857","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029952861","display_name":"R.Q. Zhang","orcid":null},"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"]},{"id":"https://openalex.org/I4210105990","display_name":"Institute of Geodesy and Geophysics","ror":"https://ror.org/01gkn6j11","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210105990"]},{"id":"https://openalex.org/I4210166070","display_name":"Geomatics (Norway)","ror":"https://ror.org/05vtg7207","country_code":"NO","type":"company","lineage":["https://openalex.org/I4210166070"]}],"countries":["CN","NO"],"is_corresponding":false,"raw_author_name":"Rongling Zhang","raw_affiliation_strings":["School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, China","with School of Geodesy and Geomatics,"],"raw_orcid":"https://orcid.org/0009-0007-5385-0120","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"with School of Geodesy and Geomatics,","institution_ids":["https://openalex.org/I4210105990","https://openalex.org/I4210166070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044602576","display_name":"Li Yan","orcid":"https://orcid.org/0000-0002-5507-810X"},"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"]},{"id":"https://openalex.org/I4210105990","display_name":"Institute of Geodesy and Geophysics","ror":"https://ror.org/01gkn6j11","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210105990"]},{"id":"https://openalex.org/I4210166070","display_name":"Geomatics (Norway)","ror":"https://ror.org/05vtg7207","country_code":"NO","type":"company","lineage":["https://openalex.org/I4210166070"]}],"countries":["CN","NO"],"is_corresponding":false,"raw_author_name":"Li Yan","raw_affiliation_strings":["School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, China","with School of Geodesy and Geomatics,"],"raw_orcid":"https://orcid.org/0000-0002-5507-810X","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"with School of Geodesy and Geomatics,","institution_ids":["https://openalex.org/I4210105990","https://openalex.org/I4210166070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074883998","display_name":"Pengcheng Wei","orcid":"https://orcid.org/0000-0003-4265-8698"},"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"]},{"id":"https://openalex.org/I4210105990","display_name":"Institute of Geodesy and Geophysics","ror":"https://ror.org/01gkn6j11","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210105990"]},{"id":"https://openalex.org/I4210166070","display_name":"Geomatics (Norway)","ror":"https://ror.org/05vtg7207","country_code":"NO","type":"company","lineage":["https://openalex.org/I4210166070"]}],"countries":["CN","NO"],"is_corresponding":false,"raw_author_name":"Pengcheng Wei","raw_affiliation_strings":["School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, China","with School of Geodesy and Geomatics,"],"raw_orcid":"https://orcid.org/0000-0003-4265-8698","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"with School of Geodesy and Geomatics,","institution_ids":["https://openalex.org/I4210105990","https://openalex.org/I4210166070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059342776","display_name":"Hong Xie","orcid":"https://orcid.org/0000-0002-0956-0421"},"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"]},{"id":"https://openalex.org/I4210105990","display_name":"Institute of Geodesy and Geophysics","ror":"https://ror.org/01gkn6j11","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210105990"]},{"id":"https://openalex.org/I4210166070","display_name":"Geomatics (Norway)","ror":"https://ror.org/05vtg7207","country_code":"NO","type":"company","lineage":["https://openalex.org/I4210166070"]}],"countries":["CN","NO"],"is_corresponding":false,"raw_author_name":"Hong Xie","raw_affiliation_strings":["School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, China","with School of Geodesy and Geomatics,"],"raw_orcid":"https://orcid.org/0000-0002-0956-0421","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"with School of Geodesy and Geomatics,","institution_ids":["https://openalex.org/I4210105990","https://openalex.org/I4210166070"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Pinzhuo Wang","orcid":null},"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"]},{"id":"https://openalex.org/I4210105990","display_name":"Institute of Geodesy and Geophysics","ror":"https://ror.org/01gkn6j11","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210105990"]},{"id":"https://openalex.org/I4210166070","display_name":"Geomatics (Norway)","ror":"https://ror.org/05vtg7207","country_code":"NO","type":"company","lineage":["https://openalex.org/I4210166070"]}],"countries":["CN","NO"],"is_corresponding":false,"raw_author_name":"Pinzhuo Wang","raw_affiliation_strings":["School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, China","with School of Geodesy and Geomatics,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"with School of Geodesy and Geomatics,","institution_ids":["https://openalex.org/I4210105990","https://openalex.org/I4210166070"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076399600","display_name":"Binbing Wang","orcid":"https://orcid.org/0000-0002-1146-0438"},"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"]},{"id":"https://openalex.org/I4210105990","display_name":"Institute of Geodesy and Geophysics","ror":"https://ror.org/01gkn6j11","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210105990"]},{"id":"https://openalex.org/I4210166070","display_name":"Geomatics (Norway)","ror":"https://ror.org/05vtg7207","country_code":"NO","type":"company","lineage":["https://openalex.org/I4210166070"]}],"countries":["CN","NO"],"is_corresponding":false,"raw_author_name":"Binbing Wang","raw_affiliation_strings":["School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, China","with School of Geodesy and Geomatics,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Hubei Luojia Laboratory, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"with School of Geodesy and Geomatics,","institution_ids":["https://openalex.org/I4210105990","https://openalex.org/I4210166070"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2495,"currency":"USD","value_usd":2495},"apc_paid":null,"fwci":8.6526,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.9692805,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"62","issue":null,"first_page":"1","last_page":"15"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994999766349792,"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":0.9994000196456909,"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":0.7639702558517456},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6830551624298096},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6699898838996887},{"id":"https://openalex.org/keywords/octree","display_name":"Octree","score":0.630484938621521},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5062898397445679},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.48018160462379456},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.42875024676322937},{"id":"https://openalex.org/keywords/point-set-registration","display_name":"Point set registration","score":0.425568163394928},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.4243257939815521},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4158147871494293},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4040209949016571},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.36472874879837036},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.2930295467376709},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.20265254378318787},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1881137192249298},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.14516812562942505}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7639702558517456},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6830551624298096},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6699898838996887},{"id":"https://openalex.org/C141297171","wikidata":"https://www.wikidata.org/wiki/Q1143237","display_name":"Octree","level":2,"score":0.630484938621521},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5062898397445679},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.48018160462379456},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.42875024676322937},{"id":"https://openalex.org/C200336642","wikidata":"https://www.wikidata.org/wiki/Q15058706","display_name":"Point set registration","level":3,"score":0.425568163394928},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.4243257939815521},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4158147871494293},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4040209949016571},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.36472874879837036},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2930295467376709},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.20265254378318787},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1881137192249298},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.14516812562942505},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tgrs.2024.3488502","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tgrs.2024.3488502","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"},{"id":"pmh:oai:arXiv.org:2410.21857","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2410.21857","pdf_url":"https://arxiv.org/pdf/2410.21857","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2410.21857","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2410.21857","pdf_url":"https://arxiv.org/pdf/2410.21857","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G198893493","display_name":null,"funder_award_id":"42371451","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2156491519","display_name":null,"funder_award_id":"42394061","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":66,"referenced_works":["https://openalex.org/W319598780","https://openalex.org/W1539091696","https://openalex.org/W1966801132","https://openalex.org/W1989625560","https://openalex.org/W2003627696","https://openalex.org/W2007200979","https://openalex.org/W2014558587","https://openalex.org/W2020682184","https://openalex.org/W2035483282","https://openalex.org/W2053994417","https://openalex.org/W2083624955","https://openalex.org/W2085261163","https://openalex.org/W2088616581","https://openalex.org/W2097832352","https://openalex.org/W2107528150","https://openalex.org/W2119851068","https://openalex.org/W2121225280","https://openalex.org/W2130763585","https://openalex.org/W2144491133","https://openalex.org/W2160821342","https://openalex.org/W2173117243","https://openalex.org/W2279795821","https://openalex.org/W2323876392","https://openalex.org/W2343970360","https://openalex.org/W2519911873","https://openalex.org/W2566265240","https://openalex.org/W2733476998","https://openalex.org/W2737855739","https://openalex.org/W2769591697","https://openalex.org/W2798791152","https://openalex.org/W2883357174","https://openalex.org/W2915505642","https://openalex.org/W2941563728","https://openalex.org/W2955863859","https://openalex.org/W2961443823","https://openalex.org/W2962828767","https://openalex.org/W2962998962","https://openalex.org/W2964187290","https://openalex.org/W2981995220","https://openalex.org/W2998095032","https://openalex.org/W3003875941","https://openalex.org/W3035010897","https://openalex.org/W3039448353","https://openalex.org/W3092875526","https://openalex.org/W3110852010","https://openalex.org/W3111598592","https://openalex.org/W3133767727","https://openalex.org/W3133856390","https://openalex.org/W3167684723","https://openalex.org/W3174270524","https://openalex.org/W3176124701","https://openalex.org/W3177280664","https://openalex.org/W4210281455","https://openalex.org/W4226373316","https://openalex.org/W4244769743","https://openalex.org/W4249866455","https://openalex.org/W4289890900","https://openalex.org/W4312119994","https://openalex.org/W4377157640","https://openalex.org/W4386065759","https://openalex.org/W4386065804","https://openalex.org/W4386076481","https://openalex.org/W4387042048","https://openalex.org/W4390970388","https://openalex.org/W6741543560","https://openalex.org/W6802758728"],"related_works":["https://openalex.org/W2392034603","https://openalex.org/W2352029666","https://openalex.org/W4200108838","https://openalex.org/W2037143534","https://openalex.org/W2888631859","https://openalex.org/W2357811830","https://openalex.org/W2067230404","https://openalex.org/W3154360165","https://openalex.org/W2345979715","https://openalex.org/W2171028602"],"abstract_inverted_index":{"Point":[0],"cloud":[1],"registration":[2,54,106],"(PCR)":[3],"is":[4,47],"a":[5,32,37,58,79,87,136,153],"fundamental":[6],"and":[7,12,28,101,141,178,191],"significant":[8],"issue":[9],"in":[10,94,123],"photogrammetry":[11],"remote":[13],"sensing,":[14],"aiming":[15],"to":[16,68,90,118,182],"seek":[17],"the":[18,73,91,95,115,124,128,131,142,176,183,193],"optimal":[19],"rigid":[20],"transformation":[21],"between":[22],"sets":[23],"of":[24,49],"points.":[25],"Achieving":[26],"efficient":[27,64],"precise":[29,138],"PCR":[30,42],"poses":[31],"considerable":[33],"challenge.":[34],"We":[35,56,77],"propose":[36,78],"novel":[38],"micro-structures":[39],"graph-based":[40,65],"global":[41],"method.":[43],"The":[44],"overall":[45],"method":[46,172],"comprised":[48],"two":[50],"stages.":[51],"1)":[52],"Coarse":[53],"(CR):":[55],"develop":[57],"graph":[59],"incorporating":[60],"micro-structures,":[61],"employing":[62],"an":[63],"hierarchical":[66],"strategy":[67],"remove":[69],"outliers":[70],"for":[71,83],"obtaining":[72],"maximal":[74],"consensus":[75],"set.":[76],"robust":[80,88,102],"GNC-Welsch":[81],"estimator":[82,89],"optimization":[84],"derived":[85],"from":[86,130],"outlier":[92],"process":[93,143],"Lie":[96],"algebra":[97],"space,":[98],"achieving":[99,187],"fast":[100],"alignment.":[103],"2)":[104],"Fine":[105],"(FR):":[107],"To":[108],"refine":[109],"local":[110,139],"alignment":[111],"further,":[112],"we":[113,133],"use":[114],"octree":[116],"approach":[117],"adaptive":[119],"search":[120],"plane":[121],"features":[122],"micro-structures.":[125],"By":[126],"minimizing":[127],"distance":[129],"point-to-plane,":[132],"can":[134],"obtain":[135],"more":[137],"alignment,":[140],"will":[144],"also":[145],"be":[146],"addressed":[147],"effectively":[148],"by":[149,196],"being":[150],"treated":[151],"as":[152],"planar":[154],"adjustment":[155],"(PA)":[156],"algorithm":[157],"combined":[158],"with":[159],"Anderson":[160],"accelerated":[161],"(PA-AA)":[162],"optimization.":[163],"After":[164],"extensive":[165],"experiments":[166],"on":[167,175],"real":[168],"data,":[169],"our":[170],"proposed":[171],"performs":[173],"well":[174],"3DMatch":[177],"ETH":[179],"datasets":[180],"compared":[181],"most":[184],"advanced":[185],"methods,":[186],"higher":[188],"accuracy":[189],"metrics":[190],"reducing":[192],"time":[194],"cost":[195],"at":[197],"least":[198],"one-third.":[199]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":9}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2024-11-14T00:00:00"}