{"id":"https://openalex.org/W2344049903","doi":"https://doi.org/10.1109/tpami.2016.2517636","title":"Fast Rotation Search with Stereographic Projections for 3D Registration","display_name":"Fast Rotation Search with Stereographic Projections for 3D Registration","publication_year":2016,"publication_date":"2016-01-13","ids":{"openalex":"https://openalex.org/W2344049903","doi":"https://doi.org/10.1109/tpami.2016.2517636","mag":"2344049903","pmid":"https://pubmed.ncbi.nlm.nih.gov/26766218"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2016.2517636","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2016.2517636","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":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Alvaro Parra Bustos","orcid":null},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Alvaro Parra Bustos","raw_affiliation_strings":["School of Computer Science, The University of Adelaide, Adelaide, S.A., Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, The University of Adelaide, Adelaide, S.A., Australia","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027317977","display_name":"Tat-Jun Chin","orcid":"https://orcid.org/0000-0003-2423-9342"},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Tat-Jun Chin","raw_affiliation_strings":["School of Computer Science, The University of Adelaide, Adelaide, S.A., Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, The University of Adelaide, Adelaide, S.A., Australia","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069883194","display_name":"Anders Eriksson","orcid":"https://orcid.org/0000-0003-2652-7110"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Anders Eriksson","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Queensland University of Technology, Brisbane, Qld, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Queensland University of Technology, Brisbane, Qld, Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"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"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Hongdong Li","raw_affiliation_strings":["Research School of Engineering, College of Engineering and Computer Science, The Australian National University, Canberra, A.C.T., Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research School of Engineering, College of Engineering and Computer Science, The Australian National University, Canberra, A.C.T., Australia","institution_ids":["https://openalex.org/I118347636"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031492664","display_name":"David Suter","orcid":"https://orcid.org/0000-0001-6306-3023"},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"David Suter","raw_affiliation_strings":["School of Computer Science, The University of Adelaide, Adelaide, S.A., Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, The University of Adelaide, Adelaide, S.A., Australia","institution_ids":["https://openalex.org/I5681781"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":129.9005,"has_fulltext":false,"cited_by_count":62,"citation_normalized_percentile":{"value":0.99879876,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"38","issue":"11","first_page":"2227","last_page":"2240"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9995999932289124,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9986000061035156,"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/point-cloud","display_name":"Point cloud","score":0.6917877793312073},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.6838435530662537},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6274069547653198},{"id":"https://openalex.org/keywords/stereographic-projection","display_name":"Stereographic projection","score":0.5580633282661438},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5311896800994873},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.4744328558444977},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47185537219047546},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45961683988571167},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.4400991201400757},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.4331636130809784},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.4319629967212677},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4249187707901001},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.4216306805610657},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.4135245680809021},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3083057701587677},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.17879480123519897},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14192035794258118}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6917877793312073},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.6838435530662537},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6274069547653198},{"id":"https://openalex.org/C119001982","wikidata":"https://www.wikidata.org/wiki/Q866099","display_name":"Stereographic projection","level":2,"score":0.5580633282661438},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5311896800994873},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.4744328558444977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47185537219047546},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45961683988571167},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.4400991201400757},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.4331636130809784},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.4319629967212677},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4249187707901001},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.4216306805610657},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.4135245680809021},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3083057701587677},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.17879480123519897},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14192035794258118},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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":3,"locations":[{"id":"doi:10.1109/tpami.2016.2517636","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2016.2517636","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:26766218","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/26766218","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:digital.library.adelaide.edu.au:2440/105616","is_oa":false,"landing_page_url":"http://hdl.handle.net/2440/105616","pdf_url":null,"source":{"id":"https://openalex.org/S4306401835","display_name":"Adelaide Research & Scholarship (AR&S) (University of Adelaide)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I5681781","host_organization_name":"The University of Adelaide","host_organization_lineage":["https://openalex.org/I5681781"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://dx.doi.org/10.1109/tpami.2016.2517636","raw_type":"Journal article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2614795791","display_name":"Hybrid optimisation for automatic large-scale video annotation","funder_award_id":"DP130104567","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"},{"id":"https://openalex.org/G4048589373","display_name":"Distributed large-scale optimisation methods in computer vision","funder_award_id":"DE130101775","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"},{"id":"https://openalex.org/G8084425736","display_name":"Structure-without-motion: large-scale 3D reconstruction from distributed and  unorganised images","funder_award_id":"DP120103896","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"},{"id":"https://openalex.org/G8102900729","display_name":"Improved image analysis: maximised statistical use of geometry/shape constraints","funder_award_id":"DP130102524","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"},{"id":"https://openalex.org/G8573739116","display_name":null,"funder_award_id":"CE14-ACRV","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"}],"funders":[{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W124242857","https://openalex.org/W1499399028","https://openalex.org/W1514337601","https://openalex.org/W1548836129","https://openalex.org/W1600307065","https://openalex.org/W1633222579","https://openalex.org/W1965805571","https://openalex.org/W1973146673","https://openalex.org/W2004312117","https://openalex.org/W2009422376","https://openalex.org/W2010209818","https://openalex.org/W2019417606","https://openalex.org/W2025031482","https://openalex.org/W2025062188","https://openalex.org/W2025076058","https://openalex.org/W2025303841","https://openalex.org/W2049981393","https://openalex.org/W2055743756","https://openalex.org/W2064499898","https://openalex.org/W2066863160","https://openalex.org/W2097832352","https://openalex.org/W2098764590","https://openalex.org/W2098890714","https://openalex.org/W2104391975","https://openalex.org/W2107466766","https://openalex.org/W2110771871","https://openalex.org/W2115001439","https://openalex.org/W2119851068","https://openalex.org/W2134236847","https://openalex.org/W2139157779","https://openalex.org/W2139958836","https://openalex.org/W2140711847","https://openalex.org/W2157364958","https://openalex.org/W2159719921","https://openalex.org/W2164703480","https://openalex.org/W2166820607","https://openalex.org/W2982209274","https://openalex.org/W4237162356","https://openalex.org/W4298410530","https://openalex.org/W4300585796","https://openalex.org/W6604999943","https://openalex.org/W6630778800","https://openalex.org/W6656866612","https://openalex.org/W6680556955","https://openalex.org/W6680709579"],"related_works":["https://openalex.org/W2952608057","https://openalex.org/W3171899115","https://openalex.org/W3126266918","https://openalex.org/W4237171675","https://openalex.org/W3036286480","https://openalex.org/W4287027631","https://openalex.org/W3192357901","https://openalex.org/W2387360586","https://openalex.org/W2952736415","https://openalex.org/W3209723314"],"abstract_inverted_index":{"Registering":[0],"two":[1,13],"3D":[2,155],"point":[3,14,32,133,195],"clouds":[4,15],"involves":[5],"estimating":[6],"the":[7,12,56,59,69,159,173,180],"rigid":[8],"transform":[9],"that":[10,68,99],"brings":[11],"into":[16],"alignment.":[17],"Recently":[18],"there":[19],"has":[20],"been":[21],"a":[22,77,93,111,144,168],"surge":[23],"of":[24,52,201],"interest":[25],"in":[26,55,135,167],"using":[27,124],"branch-and-bound":[28],"(BnB)":[29],"optimisation":[30,183],"for":[31,58,97,138],"cloud":[33],"registration.":[34],"While":[35],"BnB":[36,98,170],"guarantees":[37],"globally":[38,147],"optimal":[39,148],"solutions,":[40],"it":[41],"is":[42,71,100,121,143,177,184],"usually":[43],"too":[44],"slow":[45],"to":[46,84,114,127],"be":[47],"practical.":[48],"A":[49],"fundamental":[50],"source":[51],"difficulty":[53],"lies":[54],"search":[57,80,150,165,176],"rotational":[60],"parameters.":[61],"In":[62],"this":[63],"work,":[64],"first":[65],"by":[66,161],"assuming":[67],"translation":[70,160],"known,":[72],"we":[73,91,108,157],"focus":[74],"on":[75,123],"constructing":[76],"fast":[78,112,145],"rotation":[79,149,164,175],"algorithm.":[81,151,171],"With":[82],"respect":[83],"an":[85],"inherently":[86],"robust":[87],"geometric":[88],"matching":[89],"criterion,":[90],"propose":[92,110],"novel":[94],"bounding":[95,117],"function":[96],"provably":[101],"tighter":[102],"than":[103],"previously":[104],"proposed":[105],"bounds.":[106],"Further,":[107],"also":[109],"algorithm":[113],"evaluate":[115],"our":[116,163,204],"function.":[118],"Our":[119],"idea":[120],"based":[122],"stereographic":[125],"projections":[126],"precompute":[128],"and":[129,146],"index":[130],"all":[131],"possible":[132],"matches":[134],"spatial":[136],"R-trees":[137],"rapid":[139],"evaluations.":[140],"The":[141],"result":[142],"To":[152],"conduct":[153],"full":[154],"registration,":[156],"co-optimise":[158],"embedding":[162],"kernel":[166],"nested":[169],"Since":[172],"inner":[174],"very":[178],"efficient,":[179],"overall":[181],"6DOF":[182],"speeded":[185],"up":[186],"significantly":[187],"without":[188],"losing":[189],"global":[190],"optimality.":[191],"On":[192],"various":[193],"challenging":[194],"clouds,":[196],"including":[197],"those":[198],"taken":[199],"out":[200],"lab":[202],"settings,":[203],"approach":[205],"demonstrates":[206],"superior":[207],"efficiency.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
