{"id":"https://openalex.org/W2344109021","doi":"https://doi.org/10.1109/tpami.2015.2513405","title":"Go-ICP: A Globally Optimal Solution to 3D ICP Point-Set Registration","display_name":"Go-ICP: A Globally Optimal Solution to 3D ICP Point-Set Registration","publication_year":2015,"publication_date":"2015-12-30","ids":{"openalex":"https://openalex.org/W2344109021","doi":"https://doi.org/10.1109/tpami.2015.2513405","mag":"2344109021","pmid":"https://pubmed.ncbi.nlm.nih.gov/26731638"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2015.2513405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2015.2513405","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1605.03344","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076804411","display_name":"Jiaolong Yang","orcid":"https://orcid.org/0000-0002-7314-6567"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]},{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["AU","CN"],"is_corresponding":true,"raw_author_name":"Jiaolong Yang","raw_affiliation_strings":["Australian National University, Canberra, ACT, Australia","Beijing Lab of Intelligent Information Technology, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Australian National University, Canberra, ACT, Australia","institution_ids":["https://openalex.org/I118347636"]},{"raw_affiliation_string":"Beijing Lab of Intelligent Information Technology, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101819061","display_name":"Hongdong Li","orcid":"https://orcid.org/0000-0003-4125-1554"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Hongdong Li","raw_affiliation_strings":["Australian National University, Canberra, ACT, Australia","National ICT, Australia"],"affiliations":[{"raw_affiliation_string":"Australian National University, Canberra, ACT, Australia","institution_ids":["https://openalex.org/I118347636"]},{"raw_affiliation_string":"National ICT, Australia","institution_ids":["https://openalex.org/I42894916"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076567365","display_name":"Dylan Campbell","orcid":"https://orcid.org/0000-0002-4717-6850"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]},{"id":"https://openalex.org/I42894916","display_name":"Data61","ror":"https://ror.org/03q397159","country_code":"AU","type":"other","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I42894916","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Dylan Campbell","raw_affiliation_strings":["Australian National University, Canberra, ACT, Australia","National ICT, Australia"],"affiliations":[{"raw_affiliation_string":"Australian National University, Canberra, ACT, Australia","institution_ids":["https://openalex.org/I118347636"]},{"raw_affiliation_string":"National ICT, Australia","institution_ids":["https://openalex.org/I42894916"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100731042","display_name":"Yunde Jia","orcid":"https://orcid.org/0000-0003-1900-8945"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunde Jia","raw_affiliation_strings":["Beijing Lab of Intelligent Information Technology, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Lab of Intelligent Information Technology, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5076804411"],"corresponding_institution_ids":["https://openalex.org/I118347636","https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":571.043,"has_fulltext":false,"cited_by_count":1124,"citation_normalized_percentile":{"value":0.99995982,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"38","issue":"11","first_page":"2241","last_page":"2254"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9962999820709229,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9952999949455261,"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/initialization","display_name":"Initialization","score":0.9014673829078674},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.9005898237228394},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7080392837524414},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.621103823184967},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6191490888595581},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5951269865036011},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5044091939926147},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5037607550621033},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.48735055327415466},{"id":"https://openalex.org/keywords/euclidean-distance","display_name":"Euclidean distance","score":0.48009517788887024},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.4177485704421997},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31287580728530884},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2981071174144745},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.21324306726455688},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.08425799012184143}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.9014673829078674},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.9005898237228394},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7080392837524414},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.621103823184967},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6191490888595581},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5951269865036011},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5044091939926147},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5037607550621033},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.48735055327415466},{"id":"https://openalex.org/C120174047","wikidata":"https://www.wikidata.org/wiki/Q847073","display_name":"Euclidean distance","level":2,"score":0.48009517788887024},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.4177485704421997},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31287580728530884},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2981071174144745},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.21324306726455688},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.08425799012184143},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tpami.2015.2513405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2015.2513405","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},{"id":"pmid:26731638","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/26731638","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 pattern analysis and machine intelligence","raw_type":null},{"id":"pmh:oai:arXiv.org:1605.03344","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1605.03344","pdf_url":"https://arxiv.org/pdf/1605.03344","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1605.03344","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1605.03344","pdf_url":"https://arxiv.org/pdf/1605.03344","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2058004300","display_name":null,"funder_award_id":"CE140100016","funder_id":"https://openalex.org/F4320338275","funder_display_name":"Division of Arctic Sciences"},{"id":"https://openalex.org/G5698279823","display_name":null,"funder_award_id":"61375044","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8143937406","display_name":null,"funder_award_id":"DP120103896","funder_id":"https://openalex.org/F4320338275","funder_display_name":"Division of Arctic Sciences"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321545","display_name":"China Sponsorship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320338275","display_name":"Division of Arctic Sciences","ror":"https://ror.org/02trddg58"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":83,"referenced_works":["https://openalex.org/W124242857","https://openalex.org/W192924401","https://openalex.org/W1567242735","https://openalex.org/W1573751879","https://openalex.org/W1599434464","https://openalex.org/W1704913637","https://openalex.org/W1842983576","https://openalex.org/W1883517952","https://openalex.org/W1953793983","https://openalex.org/W1965805571","https://openalex.org/W1966648469","https://openalex.org/W1967368660","https://openalex.org/W1980101660","https://openalex.org/W1982088786","https://openalex.org/W1982392942","https://openalex.org/W1987648924","https://openalex.org/W1988874269","https://openalex.org/W1989476314","https://openalex.org/W1990398405","https://openalex.org/W1993267444","https://openalex.org/W2004312117","https://openalex.org/W2019563423","https://openalex.org/W2019874855","https://openalex.org/W2025031482","https://openalex.org/W2025062188","https://openalex.org/W2025303841","https://openalex.org/W2033819227","https://openalex.org/W2043035450","https://openalex.org/W2046079078","https://openalex.org/W2049981393","https://openalex.org/W2055743756","https://openalex.org/W2057175746","https://openalex.org/W2064358676","https://openalex.org/W2064499898","https://openalex.org/W2071158641","https://openalex.org/W2071992612","https://openalex.org/W2085100338","https://openalex.org/W2085261163","https://openalex.org/W2097832352","https://openalex.org/W2098890714","https://openalex.org/W2098922885","https://openalex.org/W2099606917","https://openalex.org/W2107235635","https://openalex.org/W2107466766","https://openalex.org/W2107528150","https://openalex.org/W2114467878","https://openalex.org/W2115001439","https://openalex.org/W2116114298","https://openalex.org/W2117098034","https://openalex.org/W2118104180","https://openalex.org/W2119851068","https://openalex.org/W2128972574","https://openalex.org/W2131684094","https://openalex.org/W2134236847","https://openalex.org/W2136614571","https://openalex.org/W2139958836","https://openalex.org/W2144594079","https://openalex.org/W2144931885","https://openalex.org/W2145178709","https://openalex.org/W2145360090","https://openalex.org/W2145828616","https://openalex.org/W2156222070","https://openalex.org/W2157364958","https://openalex.org/W2160014001","https://openalex.org/W2160821342","https://openalex.org/W2164703480","https://openalex.org/W2176551120","https://openalex.org/W2199704608","https://openalex.org/W2205514457","https://openalex.org/W2209124607","https://openalex.org/W2236623899","https://openalex.org/W2296319761","https://openalex.org/W3002063538","https://openalex.org/W3103352643","https://openalex.org/W4237162356","https://openalex.org/W4243493583","https://openalex.org/W4248122835","https://openalex.org/W4250589301","https://openalex.org/W4251658412","https://openalex.org/W4368098007","https://openalex.org/W6645831731","https://openalex.org/W6656866612","https://openalex.org/W6680709579"],"related_works":["https://openalex.org/W2375684291","https://openalex.org/W3204184292","https://openalex.org/W2354676191","https://openalex.org/W2596692027","https://openalex.org/W2148025067","https://openalex.org/W4295724548","https://openalex.org/W2549189808","https://openalex.org/W2908649049","https://openalex.org/W3011318504","https://openalex.org/W3154360165"],"abstract_inverted_index":{"The":[0,75,140],"Iterative":[1],"Closest":[2],"Point":[3],"(ICP)":[4],"algorithm":[5],"is":[6,25,47,78,114,147,168,175],"one":[7],"of":[8,40,63,97,137,155],"the":[9,38,41,52,68,86,94,108,117,123,135,144,156],"most":[10],"widely":[11],"used":[12],"methods":[13],"for":[14,59,107],"point-set":[15],"registration.":[16],"However,":[17],"being":[18],"based":[19,79],"on":[20,37,80],"local":[21,31,45],"iterative":[22],"optimization,":[23],"ICP":[24,113],"known":[26],"to":[27,30,149],"be":[28,160],"susceptible":[29],"minima.":[32],"Its":[33],"performance":[34],"critically":[35],"relies":[36],"quality":[39],"initialization":[42,174],"and":[43,104],"only":[44],"optimality":[46],"guaranteed.":[48],"This":[49],"paper":[50],"presents":[51],"first":[53],"globally":[54],"optimal":[55,166],"algorithm,":[56],"named":[57],"Go-ICP,":[58],"Euclidean":[60],"(rigid)":[61],"registration":[62,109,152],"two":[64],"3D":[65,88],"point-sets":[66],"under":[67],"L<sub>2</sub>":[69],"error":[70,110],"metric":[71],"defined":[72],"in":[73,162],"ICP.":[74],"Go-ICP":[76,158],"method":[77,125,146],"a":[81,172],"branch-and-bound":[82],"scheme":[83],"that":[84,143],"searches":[85],"entire":[87],"motion":[89],"space":[90],"SE(3).":[91],"By":[92],"exploiting":[93],"special":[95],"structure":[96],"SE(3)":[98],"geometry,":[99],"we":[100],"derive":[101],"novel":[102],"upper":[103],"lower":[105],"bounds":[106],"function.":[111],"Local":[112],"integrated":[115],"into":[116],"BnB":[118],"scheme,":[119],"which":[120],"speeds":[121],"up":[122],"new":[124],"while":[126],"guaranteeing":[127],"global":[128],"optimality.":[129],"We":[130],"also":[131],"discuss":[132],"extensions,":[133],"addressing":[134],"issue":[136],"outlier":[138],"robustness.":[139],"evaluation":[141],"demonstrates":[142],"proposed":[145],"able":[148],"produce":[150],"reliable":[151],"results":[153],"regardless":[154],"initialization.":[157],"can":[159],"applied":[161],"scenarios":[163],"where":[164,171],"an":[165],"solution":[167],"desirable":[169],"or":[170],"good":[173],"not":[176],"always":[177],"available.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":27},{"year":2025,"cited_by_count":148},{"year":2024,"cited_by_count":183},{"year":2023,"cited_by_count":169},{"year":2022,"cited_by_count":147},{"year":2021,"cited_by_count":144},{"year":2020,"cited_by_count":123},{"year":2019,"cited_by_count":94},{"year":2018,"cited_by_count":57},{"year":2017,"cited_by_count":27},{"year":2016,"cited_by_count":5}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}