{"id":"https://openalex.org/W4390533816","doi":"https://doi.org/10.1109/tpami.2023.3349199","title":"RIGA: Rotation-Invariant and Globally-Aware Descriptors for Point Cloud Registration","display_name":"RIGA: Rotation-Invariant and Globally-Aware Descriptors for Point Cloud Registration","publication_year":2024,"publication_date":"2024-01-03","ids":{"openalex":"https://openalex.org/W4390533816","doi":"https://doi.org/10.1109/tpami.2023.3349199","pmid":"https://pubmed.ncbi.nlm.nih.gov/38170661"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2023.3349199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2023.3349199","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":"https://openalex.org/A5100337969","display_name":"Hao Yu","orcid":"https://orcid.org/0000-0002-7675-4701"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hao Yu","raw_affiliation_strings":["Technical University of Munich, M&#x00FC;nchen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-7675-4701","affiliations":[{"raw_affiliation_string":"Technical University of Munich, M&#x00FC;nchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101586274","display_name":"Ji Hou","orcid":"https://orcid.org/0000-0002-5244-8953"},"institutions":[{"id":"https://openalex.org/I4210128585","display_name":"META Health","ror":"https://ror.org/035h67p10","country_code":"US","type":"other","lineage":["https://openalex.org/I4210128585"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Ji Hou","raw_affiliation_strings":["Technical University of Munich, M&#x00FC;nchen, Germany","Meta Reality Labs, Burlingame, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5244-8953","affiliations":[{"raw_affiliation_string":"Technical University of Munich, M&#x00FC;nchen, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Meta Reality Labs, Burlingame, CA, USA","institution_ids":["https://openalex.org/I4210128585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100695329","display_name":"Zheng Qin","orcid":"https://orcid.org/0000-0003-4373-4111"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Qin","raw_affiliation_strings":["National University of Defense Technology, Changsha, Hunan, China"],"raw_orcid":"https://orcid.org/0000-0003-4373-4111","affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, Hunan, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101398346","display_name":"Mahdi Saleh","orcid":"https://orcid.org/0009-0007-0390-5955"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mahdi Saleh","raw_affiliation_strings":["Technical University of Munich, M&#x00FC;nchen, Germany"],"raw_orcid":"https://orcid.org/0009-0007-0390-5955","affiliations":[{"raw_affiliation_string":"Technical University of Munich, M&#x00FC;nchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027563468","display_name":"Ivan Shugurov","orcid":"https://orcid.org/0000-0001-5413-6622"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ivan Shugurov","raw_affiliation_strings":["Technical University of Munich, M&#x00FC;nchen, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5413-6622","affiliations":[{"raw_affiliation_string":"Technical University of Munich, M&#x00FC;nchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100437004","display_name":"Kai Wang","orcid":"https://orcid.org/0000-0002-3123-2184"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Wang","raw_affiliation_strings":["Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-3123-2184","affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067135033","display_name":"Benjamin Busam","orcid":"https://orcid.org/0000-0002-0620-5774"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Benjamin Busam","raw_affiliation_strings":["Technical University of Munich, M&#x00FC;nchen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-0620-5774","affiliations":[{"raw_affiliation_string":"Technical University of Munich, M&#x00FC;nchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045382199","display_name":"Slobodan Ili\u0107","orcid":"https://orcid.org/0000-0002-3413-1936"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Slobodan Ilic","raw_affiliation_strings":["Technical University of Munich, M&#x00FC;nchen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-3413-1936","affiliations":[{"raw_affiliation_string":"Technical University of Munich, M&#x00FC;nchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":19.7205,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.99846498,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"46","issue":"5","first_page":"3796","last_page":"3812"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9997000098228455,"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/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":0.9980999827384949,"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":0.6689924001693726},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.655380368232727},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5880260467529297},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.5798911452293396},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5475148558616638},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.540908694267273},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5405665040016174},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4488787353038788},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3755427598953247},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3194505572319031},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.07017496228218079}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6689924001693726},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.655380368232727},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5880260467529297},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.5798911452293396},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5475148558616638},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.540908694267273},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5405665040016174},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4488787353038788},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3755427598953247},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3194505572319031},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.07017496228218079},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tpami.2023.3349199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2023.3349199","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:38170661","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38170661","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}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1920022804","https://openalex.org/W2003447360","https://openalex.org/W2085261163","https://openalex.org/W2096733369","https://openalex.org/W2098764590","https://openalex.org/W2100816864","https://openalex.org/W2130558599","https://openalex.org/W2150066425","https://openalex.org/W2160643963","https://openalex.org/W2160821342","https://openalex.org/W2161168419","https://openalex.org/W2180507191","https://openalex.org/W2187089797","https://openalex.org/W2520352517","https://openalex.org/W2566265240","https://openalex.org/W2786036844","https://openalex.org/W2796426482","https://openalex.org/W2883357174","https://openalex.org/W2889300857","https://openalex.org/W2962941647","https://openalex.org/W2963232250","https://openalex.org/W2964014140","https://openalex.org/W2979750740","https://openalex.org/W2981556384","https://openalex.org/W2981995220","https://openalex.org/W2982319484","https://openalex.org/W2986382673","https://openalex.org/W2990613095","https://openalex.org/W3013243617","https://openalex.org/W3034275286","https://openalex.org/W3034303554","https://openalex.org/W3034675048","https://openalex.org/W3035338950","https://openalex.org/W3094502228","https://openalex.org/W3096538374","https://openalex.org/W3108059345","https://openalex.org/W3126711100","https://openalex.org/W3158545781","https://openalex.org/W3166573884","https://openalex.org/W3166855724","https://openalex.org/W3167684723","https://openalex.org/W3175249325","https://openalex.org/W3177280664","https://openalex.org/W3216353509","https://openalex.org/W4226373316","https://openalex.org/W4304092564","https://openalex.org/W4312516208","https://openalex.org/W4312808629","https://openalex.org/W4378421600","https://openalex.org/W4385245566","https://openalex.org/W4391407216","https://openalex.org/W6631190155","https://openalex.org/W6739778489","https://openalex.org/W6747827861","https://openalex.org/W6763422710","https://openalex.org/W6766978945","https://openalex.org/W6767019538","https://openalex.org/W6784063889","https://openalex.org/W6784333009","https://openalex.org/W6802758728"],"related_works":["https://openalex.org/W4244478748","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W1997222214","https://openalex.org/W2560439919","https://openalex.org/W4389340727","https://openalex.org/W3150465815","https://openalex.org/W2802581102","https://openalex.org/W4205786897"],"abstract_inverted_index":{"Successful":[0],"point":[1,141],"cloud":[2],"registration":[3],"relies":[4],"on":[5,158,186,200],"accurate":[6],"correspondences":[7,145],"established":[8],"upon":[9],"powerful":[10],"descriptors.":[11,69,130],"However,":[12],"existing":[13],"neural":[14],"descriptors":[15,44,105,111],"either":[16],"leverage":[17],"a":[18,83,173],"rotation-variant":[19],"backbone":[20],"whose":[21],"performance":[22],"declines":[23],"under":[24],"large":[25,165],"rotations,":[26,166],"or":[27],"encode":[28],"local":[29,60,63,117],"geometry":[30,64],"that":[31,45],"is":[32,65,78,125,137],"less":[33],"distinctive.":[34],"To":[35,150],"address":[36],"this":[37],"issue,":[38],"we":[39,154],"introduce":[40],"RIGA":[41,167],"to":[42,108,139],"learn":[43],"are":[46,94,106,146],"Rotation-Invariant":[47],"by":[48,97,172,194],"design":[49],"and":[50,75,161,188],"Globally-Aware.":[51],"From":[52],"the":[53,91,113,122,132,169,182,190],"Point":[54],"Pair":[55],"Features":[56],"(PPFs)":[57],"of":[58,72,90,134,175,181],"sparse":[59,135],"regions,":[61],"rotation-invariant":[62,84],"encoded":[66],"into":[67,129],"geometric":[68,76,110],"Global":[70],"awareness":[71],"3D":[73,88,114],"structures":[74,89],"context":[77,120],"subsequently":[79],"incorporated,":[80],"both":[81,159],"in":[82,179],"fashion.":[85],"More":[86],"specifically,":[87],"whole":[92,123],"frame":[93],"first":[95],"represented":[96],"our":[98,152],"global":[99],"PPF":[100],"signatures,":[101],"from":[102,121,143],"which":[103,144],"structural":[104],"learned":[107],"help":[109],"sense":[112],"world":[115],"beyond":[116],"regions.":[118],"Geometric":[119],"scene":[124],"then":[126],"globally":[127],"aggregated":[128],"Finally,":[131],"description":[133],"regions":[136],"interpolated":[138],"dense":[140],"descriptors,":[142],"extracted":[147],"for":[148],"registration.":[149],"validate":[151],"approach,":[153],"conduct":[155],"extensive":[156],"experiments":[157],"object-":[160],"scene-level":[162],"data.":[163],"With":[164],"surpasses":[168],"state-of-the-art":[170],"methods":[171],"margin":[174],"8":[176],"<inline-formula><tex-math":[177],"notation=\"LaTeX\">${}^\\circ$</tex-math></inline-formula>":[178],"terms":[180],"Relative":[183],"Rotation":[184],"Error":[185],"ModelNet40":[187],"improves":[189],"Feature":[191],"Matching":[192],"Recall":[193],"at":[195],"least":[196],"5":[197],"percentage":[198],"points":[199],"3DLoMatch.":[201]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":33},{"year":2024,"cited_by_count":17}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
