{"id":"https://openalex.org/W4410086661","doi":"https://doi.org/10.1109/tip.2025.3565380","title":"PCSS: 3D Keypoint Detection for Point Clouds Using Structural Saliency","display_name":"PCSS: 3D Keypoint Detection for Point Clouds Using Structural Saliency","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4410086661","doi":"https://doi.org/10.1109/tip.2025.3565380","pmid":"https://pubmed.ncbi.nlm.nih.gov/40323743"},"language":"en","primary_location":{"id":"doi:10.1109/tip.2025.3565380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tip.2025.3565380","pdf_url":null,"source":{"id":"https://openalex.org/S4210173141","display_name":"IEEE Transactions on Image Processing","issn_l":"1057-7149","issn":["1057-7149","1941-0042"],"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 Image Processing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5086794052","display_name":"Chengzhuan Yang","orcid":"https://orcid.org/0000-0002-6675-9074"},"institutions":[{"id":"https://openalex.org/I135237710","display_name":"Zhejiang Normal University","ror":"https://ror.org/01vevwk45","country_code":"CN","type":"education","lineage":["https://openalex.org/I135237710"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengzhuan Yang","raw_affiliation_strings":["School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China"],"raw_orcid":"https://orcid.org/0000-0002-6675-9074","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China","institution_ids":["https://openalex.org/I135237710"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003498128","display_name":"Xin Zhao","orcid":"https://orcid.org/0000-0002-5825-1238"},"institutions":[{"id":"https://openalex.org/I135237710","display_name":"Zhejiang Normal University","ror":"https://ror.org/01vevwk45","country_code":"CN","type":"education","lineage":["https://openalex.org/I135237710"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Zhao","raw_affiliation_strings":["School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China","institution_ids":["https://openalex.org/I135237710"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiaohan Li","orcid":"https://orcid.org/0009-0003-5645-9830"},"institutions":[{"id":"https://openalex.org/I135237710","display_name":"Zhejiang Normal University","ror":"https://ror.org/01vevwk45","country_code":"CN","type":"education","lineage":["https://openalex.org/I135237710"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaohan Li","raw_affiliation_strings":["School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China"],"raw_orcid":"https://orcid.org/0009-0003-5645-9830","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China","institution_ids":["https://openalex.org/I135237710"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055944639","display_name":"Qian Yu","orcid":"https://orcid.org/0000-0002-6224-5607"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qian Yu","raw_affiliation_strings":["School of Computer Science, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-6224-5607","affiliations":[{"raw_affiliation_string":"School of Computer Science, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017196205","display_name":"Hui Wei","orcid":"https://orcid.org/0000-0003-2696-0707"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Wei","raw_affiliation_strings":["Laboratory of Cognitive Algorithm and Model and Shanghai Key Laboratory of Data Science, School of Computer Science, Fudan University, Shanghai, China","Shanghai Key Laboratory of Data Science, School of Computer Science, Laboratory of Cognitive Algorithm and Model, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-2696-0707","affiliations":[{"raw_affiliation_string":"Laboratory of Cognitive Algorithm and Model and Shanghai Key Laboratory of Data Science, School of Computer Science, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"Shanghai Key Laboratory of Data Science, School of Computer Science, Laboratory of Cognitive Algorithm and Model, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066982002","display_name":"Yunliang Jiang","orcid":"https://orcid.org/0000-0003-4500-5836"},"institutions":[{"id":"https://openalex.org/I135237710","display_name":"Zhejiang Normal University","ror":"https://ror.org/01vevwk45","country_code":"CN","type":"education","lineage":["https://openalex.org/I135237710"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunliang Jiang","raw_affiliation_strings":["School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China"],"raw_orcid":"https://orcid.org/0000-0003-4500-5836","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China","institution_ids":["https://openalex.org/I135237710"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111404101","display_name":"Zheng Zheng","orcid":"https://orcid.org/0000-0002-5271-9215"},"institutions":[{"id":"https://openalex.org/I135237710","display_name":"Zhejiang Normal University","ror":"https://ror.org/01vevwk45","country_code":"CN","type":"education","lineage":["https://openalex.org/I135237710"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhonglong Zheng","raw_affiliation_strings":["School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China"],"raw_orcid":"https://orcid.org/0000-0002-5271-9215","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Zhejiang Normal University, Jinhua, China","institution_ids":["https://openalex.org/I135237710"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.2611,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.93078739,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"34","issue":null,"first_page":"2765","last_page":"2780"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9965999722480774,"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":0.9965999722480774,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9934999942779541,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9923999905586243,"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":0.5792093276977539},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.574448823928833},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5346122980117798},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4891210198402405},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4402807652950287},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4129277467727661},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.36137667298316956},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22059190273284912},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.14851751923561096}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5792093276977539},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.574448823928833},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5346122980117798},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4891210198402405},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4402807652950287},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4129277467727661},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.36137667298316956},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22059190273284912},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.14851751923561096},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tip.2025.3565380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tip.2025.3565380","pdf_url":null,"source":{"id":"https://openalex.org/S4210173141","display_name":"IEEE Transactions on Image Processing","issn_l":"1057-7149","issn":["1057-7149","1941-0042"],"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 Image Processing","raw_type":"journal-article"},{"id":"pmid:40323743","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40323743","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 image processing : a publication of the IEEE Signal Processing Society","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G1150634568","display_name":null,"funder_award_id":"U22A20102","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1877272449","display_name":"\u9762\u5411\u590d\u6742\u573a\u666f\u7684\u89c6\u89c9\u76ee\u6807\u8ddf\u8e2a\u7b97\u6cd5\u7814\u7a76","funder_award_id":"LZ22F020010","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"},{"id":"https://openalex.org/G2624907594","display_name":null,"funder_award_id":"62272419","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5724472631","display_name":null,"funder_award_id":"62402449","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5775775103","display_name":null,"funder_award_id":"62106227","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7856768381","display_name":null,"funder_award_id":"61902159","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8109244785","display_name":null,"funder_award_id":"2023M743132","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320322927","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884"},{"id":"https://openalex.org/F4320322951","display_name":"Zhejiang University of Science and Technology","ror":"https://ror.org/03893we55"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W1957167950","https://openalex.org/W1966790179","https://openalex.org/W1981760881","https://openalex.org/W1983670955","https://openalex.org/W1989625560","https://openalex.org/W2020682184","https://openalex.org/W2051448670","https://openalex.org/W2067956279","https://openalex.org/W2070237190","https://openalex.org/W2097696373","https://openalex.org/W2100657858","https://openalex.org/W2111308925","https://openalex.org/W2122076510","https://openalex.org/W2130558599","https://openalex.org/W2151103935","https://openalex.org/W2160821342","https://openalex.org/W2303693074","https://openalex.org/W2566265240","https://openalex.org/W2724890070","https://openalex.org/W2742438537","https://openalex.org/W2883357174","https://openalex.org/W2895588840","https://openalex.org/W2963333168","https://openalex.org/W2963719893","https://openalex.org/W2981556384","https://openalex.org/W2981995220","https://openalex.org/W2982467366","https://openalex.org/W3034669309","https://openalex.org/W3034675048","https://openalex.org/W3076662887","https://openalex.org/W3171948356","https://openalex.org/W3195006234","https://openalex.org/W3206883448","https://openalex.org/W4200250398","https://openalex.org/W4225712234","https://openalex.org/W4230114405","https://openalex.org/W4243723963","https://openalex.org/W4312433820","https://openalex.org/W4313013782","https://openalex.org/W4319299818","https://openalex.org/W4320086329","https://openalex.org/W4385489997","https://openalex.org/W4386075590","https://openalex.org/W4390872920","https://openalex.org/W4390873613","https://openalex.org/W4390874173","https://openalex.org/W4390905132","https://openalex.org/W4392099185","https://openalex.org/W4392719444","https://openalex.org/W4392904189","https://openalex.org/W4402704507","https://openalex.org/W4404725284","https://openalex.org/W4405079030","https://openalex.org/W6754540991","https://openalex.org/W6811201340"],"related_works":["https://openalex.org/W4389574804","https://openalex.org/W3016928466","https://openalex.org/W2936725271","https://openalex.org/W3150655618","https://openalex.org/W3108295644","https://openalex.org/W1578717197","https://openalex.org/W2626737336","https://openalex.org/W2005998065","https://openalex.org/W2980582925","https://openalex.org/W2295788148"],"abstract_inverted_index":{"3D":[0,28,39,63,71,87,138,157,172],"keypoint":[1,72,88,158,173,179],"detection":[2,73,180],"is":[3,16,35],"of":[4,20,48,54,188],"great":[5],"interest":[6],"to":[7,37,45,82,112],"researchers":[8],"in":[9,61,131,171],"computer":[10],"vision":[11],"and":[12,30,42,51,58,85,109,161,186],"graphics":[13],"because":[14],"it":[15,34,167,176],"an":[17,93],"integral":[18],"part":[19],"realizing":[21],"many":[22],"tasks,":[23],"such":[24],"as":[25],"object":[26],"tracking,":[27],"reconstruction,":[29],"shape":[31],"registration.":[32],"However,":[33],"challenging":[36],"detect":[38],"keypoints":[40,50,139],"quickly":[41],"stably":[43],"due":[44],"the":[46,49,52,62,128,132,162,184],"ambiguity":[47],"presence":[53],"noise,":[55],"density":[56],"changes,":[57],"geometric":[59,102,110],"distortions":[60],"point":[64,77,95,120,133,142],"cloud.":[65,134],"This":[66],"paper":[67],"proposes":[68],"a":[69,119,147],"novel":[70],"method":[74,154],"based":[75,140],"on":[76,141,155],"cloud":[78,96,121,143],"structural":[79,122,144],"saliency":[80,123,145],"(PCSS)":[81],"realize":[83],"stable":[84],"efficient":[86],"detection.":[89,174],"First,":[90],"we":[91,117,136],"propose":[92],"effective":[94],"feature":[97,114],"descriptor":[98],"called":[99],"local":[100],"spatial":[101,108],"feature,":[103],"which":[104],"can":[105],"effectively":[106,126],"combine":[107],"information":[111,130],"improve":[113],"distinguishability.":[115],"Second,":[116],"define":[118],"representation":[124],"that":[125,166],"characterizes":[127],"structured":[129],"Finally,":[135],"generate":[137],"using":[146],"non-maximum":[148],"suppression":[149],"method.":[150,190],"We":[151],"evaluate":[152],"our":[153,189],"five":[156],"benchmark":[159],"datasets,":[160],"experimental":[163],"results":[164],"demonstrate":[165],"achieves":[168],"state-of-the-art":[169],"performance":[170],"Comparing":[175],"with":[177],"previous":[178],"methods":[181],"further":[182],"demonstrates":[183],"effectiveness":[185],"superiority":[187]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-13T07:31:44.756512","created_date":"2025-10-10T00:00:00"}