{"id":"https://openalex.org/W4404035494","doi":"https://doi.org/10.1109/tgrs.2024.3490853","title":"FlyCore: Fast Low-Frequency Coarse Registration of Large-Scale Outdoor LiDAR Point Clouds","display_name":"FlyCore: Fast Low-Frequency Coarse Registration of Large-Scale Outdoor LiDAR Point Clouds","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4404035494","doi":"https://doi.org/10.1109/tgrs.2024.3490853"},"language":"en","primary_location":{"id":"doi:10.1109/tgrs.2024.3490853","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/tgrs.2024.3490853","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/A5047390088","display_name":"Zikuan Li","orcid":"https://orcid.org/0000-0001-7471-1188"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zikuan Li","raw_affiliation_strings":["School of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-7471-1188","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114929511","display_name":"Kaijun Zhang","orcid":"https://orcid.org/0000-0002-2415-7817"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaijun Zhang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-2415-7817","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000881159","display_name":"Zhoutao Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhoutao Wang","raw_affiliation_strings":["School of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076310769","display_name":"Sibo Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sibo Wu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100363146","display_name":"Xiao\u2013Ping Zhang","orcid":"https://orcid.org/0000-0001-5241-0069"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao-Ping Zhang","raw_affiliation_strings":["Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-5241-0069","affiliations":[{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051555459","display_name":"Mingqiang Wei","orcid":"https://orcid.org/0000-0003-0429-490X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingqiang Wei","raw_affiliation_strings":["School of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-0429-490X","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100384655","display_name":"Jun Wang","orcid":"https://orcid.org/0000-0001-9223-2615"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Wang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-9223-2615","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5047390088"],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":0.3931,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.58638626,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"62","issue":null,"first_page":"1","last_page":"13"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9993000030517578,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9778000116348267,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9702000021934509,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.8222068548202515},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.7391433715820312},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5444492101669312},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.528376579284668},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.38896048069000244},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37699979543685913},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.24992534518241882},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2422877550125122},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12476575374603271},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.0711708664894104}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.8222068548202515},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.7391433715820312},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5444492101669312},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.528376579284668},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.38896048069000244},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37699979543685913},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.24992534518241882},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2422877550125122},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12476575374603271},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0711708664894104}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tgrs.2024.3490853","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/tgrs.2024.3490853","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/G2396892011","display_name":null,"funder_award_id":"52275493","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6767769032","display_name":null,"funder_award_id":"92267201","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7588867604","display_name":null,"funder_award_id":"92367301","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7614266656","display_name":null,"funder_award_id":"92160301","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":59,"referenced_works":["https://openalex.org/W1920022804","https://openalex.org/W1957167950","https://openalex.org/W1973146673","https://openalex.org/W1984555309","https://openalex.org/W2008213480","https://openalex.org/W2034950486","https://openalex.org/W2034987376","https://openalex.org/W2056162638","https://openalex.org/W2064499898","https://openalex.org/W2083624955","https://openalex.org/W2085261163","https://openalex.org/W2150066425","https://openalex.org/W2160615084","https://openalex.org/W2160821342","https://openalex.org/W2271206385","https://openalex.org/W2344109021","https://openalex.org/W2519911873","https://openalex.org/W2766959699","https://openalex.org/W2802456841","https://openalex.org/W2849000462","https://openalex.org/W2909908358","https://openalex.org/W2948389328","https://openalex.org/W2963264709","https://openalex.org/W2963666542","https://openalex.org/W2981556384","https://openalex.org/W2981995220","https://openalex.org/W2986382673","https://openalex.org/W3034295752","https://openalex.org/W3035030518","https://openalex.org/W3035272603","https://openalex.org/W3035574168","https://openalex.org/W3047204433","https://openalex.org/W3096538374","https://openalex.org/W3108059345","https://openalex.org/W3110683146","https://openalex.org/W3111598592","https://openalex.org/W3134054009","https://openalex.org/W3166855724","https://openalex.org/W3167684723","https://openalex.org/W3176124701","https://openalex.org/W3179449781","https://openalex.org/W3185902918","https://openalex.org/W3198819597","https://openalex.org/W3199959872","https://openalex.org/W3203066970","https://openalex.org/W3206776160","https://openalex.org/W3217048438","https://openalex.org/W4214688548","https://openalex.org/W4226373316","https://openalex.org/W4312629494","https://openalex.org/W4362692959","https://openalex.org/W4385945233","https://openalex.org/W4390659820","https://openalex.org/W4390691356","https://openalex.org/W4390970388","https://openalex.org/W6633448084","https://openalex.org/W6638130240","https://openalex.org/W6677548441","https://openalex.org/W6763422710"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W2351984678","https://openalex.org/W2140032575","https://openalex.org/W2011860471","https://openalex.org/W2012196540","https://openalex.org/W3011451421","https://openalex.org/W2139939267","https://openalex.org/W1974511032"],"abstract_inverted_index":{"Fast":[0],"and":[1,20,24,57,85,118,139,159,165],"accurate":[2],"registration":[3,36,61,123,171],"of":[4,78,103,168],"outdoor":[5,40],"LiDAR":[6,41,155],"point":[7,42,79,109],"clouds":[8,80],"poses":[9],"a":[10,32,76,147],"considerable":[11],"challenge":[12],"for":[13,38,54,64,75,136],"their":[14,65,83],"large-scale":[15,39],"(e.g.,":[16,22],"300":[17],"K":[18],"points)":[19],"intricate":[21],"noise":[23,117],"outliers)":[25],"distributions.":[26],"In":[27],"this":[28],"article,":[29],"we":[30,69,90],"present":[31],"fast":[33,53],"low-frequency":[34,101],"coarse":[35],"method":[37],"clouds,":[43],"dubbed":[44],"FlyCore.":[45,176],"Different":[46],"from":[47],"existing":[48,169],"methods,":[49],"FlyCore":[50,112,126],"is":[51],"very":[52],"practical":[55],"applications":[56],"bridges":[58],"current":[59],"refinement":[60],"methods":[62,172],"smoothly":[63],"accuracy":[66,166],"improvements.":[67],"Specifically,":[68],"first":[70],"construct":[71],"spherical":[72,96,104],"feature":[73,97,137],"spaces":[74],"pair":[77],"based":[81],"on":[82,94],"keypoints":[84],"saliency":[86],"uncertainties":[87],"independently.":[88],"Then,":[89],"perform":[91],"harmonic":[92],"decomposition":[93],"these":[95],"spaces,":[98],"utilizing":[99,152],"the":[100,134,163],"components":[102],"harmonics":[105],"(SHs)":[106],"to":[107,116,121],"implement":[108],"cloud":[110],"registration.":[111],"demonstrates":[113],"less":[114],"sensitivity":[115],"outliers":[119],"compared":[120],"feature-based":[122],"techniques.":[124],"Also,":[125],"achieves":[127],"exceptionally":[128],"low":[129],"time":[130],"complexity":[131],"by":[132,174],"eliminating":[133],"need":[135],"matching":[138],"iterative":[140],"procedures,":[141],"ensuring":[142],"fine":[143,170],"alignment":[144],"with":[145],"only":[146],"few":[148],"iterations.":[149],"Experimental":[150],"validations,":[151],"two":[153],"extensive":[154],"datasets":[156],"featuring":[157],"urban":[158],"natural":[160],"scenarios,":[161],"confirm":[162],"effectiveness":[164],"improvement":[167],"facilitated":[173],"our":[175]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
