{"id":"https://openalex.org/W7123360335","doi":"https://doi.org/10.1109/tpami.2026.3652316","title":"OIF-PCR++: Point Cloud Registration via Progressive Distillation of Conditional Positional Encoding","display_name":"OIF-PCR++: Point Cloud Registration via Progressive Distillation of Conditional Positional Encoding","publication_year":2026,"publication_date":"2026-01-12","ids":{"openalex":"https://openalex.org/W7123360335","doi":"https://doi.org/10.1109/tpami.2026.3652316","pmid":"https://pubmed.ncbi.nlm.nih.gov/41525594"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2026.3652316","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2026.3652316","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":"Fan Yang","orcid":"https://orcid.org/0000-0002-1832-1940"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Yang","raw_affiliation_strings":["State Key Laboratory of Multispectral Information Intelligent Processing Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-1832-1940","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multispectral Information Intelligent Processing Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122845775","display_name":"Zhi Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi Chen","raw_affiliation_strings":["State Key Laboratory of Multispectral Information Intelligent Processing Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-4642-5728","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multispectral Information Intelligent Processing Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044653068","display_name":"Nanjun Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nanjun Yuan","raw_affiliation_strings":["State Key Laboratory of Multispectral Information Intelligent Processing Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multispectral Information Intelligent Processing Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lin Guo","orcid":"https://orcid.org/0000-0003-4537-3145"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Guo","raw_affiliation_strings":["State Key Laboratory of Multispectral Information Intelligent Processing Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-4537-3145","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multispectral Information Intelligent Processing Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5104076882","display_name":"Wenbin Tao","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenbing Tao","raw_affiliation_strings":["State Key Laboratory of Multispectral Information Intelligent Processing Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-3284-864X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multispectral Information Intelligent Processing Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05756807,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"48","issue":"5","first_page":"5328","last_page":"5345"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.7197999954223633,"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":0.7197999954223633,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.11990000307559967,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.05559999868273735,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7006999850273132},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.6417999863624573},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4999000132083893},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.48339998722076416},{"id":"https://openalex.org/keywords/discriminative-model","display_name":"Discriminative model","score":0.4334999918937683},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.40799999237060547},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.3635999858379364},{"id":"https://openalex.org/keywords/feature-vector","display_name":"Feature vector","score":0.36090001463890076},{"id":"https://openalex.org/keywords/decoding-methods","display_name":"Decoding methods","score":0.34139999747276306}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7006999850273132},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.699999988079071},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.6417999863624573},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6229000091552734},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4999000132083893},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.48339998722076416},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47209998965263367},{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.4334999918937683},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.40799999237060547},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3635999858379364},{"id":"https://openalex.org/C83665646","wikidata":"https://www.wikidata.org/wiki/Q42139305","display_name":"Feature vector","level":2,"score":0.36090001463890076},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.34139999747276306},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.29820001125335693},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.29429998993873596},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.29190000891685486},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.28610000014305115},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2849000096321106},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.2833999991416931},{"id":"https://openalex.org/C81669768","wikidata":"https://www.wikidata.org/wiki/Q2359161","display_name":"Precision and recall","level":2,"score":0.2797999978065491},{"id":"https://openalex.org/C58103923","wikidata":"https://www.wikidata.org/wiki/Q2286025","display_name":"Silhouette","level":2,"score":0.27869999408721924},{"id":"https://openalex.org/C179518139","wikidata":"https://www.wikidata.org/wiki/Q5140297","display_name":"Coding (social sciences)","level":2,"score":0.26829999685287476},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26829999685287476},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.26739999651908875},{"id":"https://openalex.org/C199833920","wikidata":"https://www.wikidata.org/wiki/Q612536","display_name":"Vector quantization","level":2,"score":0.26089999079704285},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.25929999351501465}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tpami.2026.3652316","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2026.3652316","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:41525594","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41525594","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":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.6758641600608826}],"awards":[{"id":"https://openalex.org/G5648491228","display_name":null,"funder_award_id":"62576144","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Transformer":[0,25],"architecture":[1],"has":[2],"shown":[3],"significant":[4],"potential":[5],"in":[6,24],"various":[7],"visual":[8],"tasks,":[9],"including":[10],"point":[11,40,63,115,139,185],"cloud":[12,41,116,186],"registration.":[13,42],"Positional":[14],"encoding,":[15,179],"as":[16,234,236],"an":[17,87,191],"order-aware":[18],"module,":[19],"plays":[20],"a":[21,33,69,102,128],"crucial":[22],"role":[23],"framework.":[26],"In":[27],"this":[28,151,162],"paper,":[29],"we":[30,85,189],"propose":[31],"OIF-PCR++,":[32],"conditional":[34],"positional":[35,89,178,202],"encoding":[36,51,90],"(CPE)":[37],"method":[38,206],"for":[39,201],"The":[43,204],"core":[44],"CPE":[45],"module":[46],"utilizes":[47],"length":[48,112,166],"and":[49,107,141,157,167,176,231],"vector":[50],"at":[52],"different":[53,122],"stages,":[54],"conditioned":[55],"on":[56,227],"the":[57,62,77,148,181],"relative":[58],"pose":[59],"states":[60],"between":[61,137],"clouds":[64],"to":[65,110,133,173,239],"be":[66],"registered.":[67],"As":[68],"result,":[70],"it":[71,109],"progressively":[72],"alleviates":[73],"feature":[74,155,159,217],"ambiguity":[75],"through":[76],"incorporation":[78],"of":[79,150,183],"geometric":[80,199],"cues.":[81],"Building":[82],"upon":[83],"CPE,":[84],"introduce":[86],"iterative":[88,163],"optimization":[91,164],"pipeline":[92],"comprising":[93],"two":[94],"stages:":[95],"1)":[96],"We":[97,126],"find":[98],"one":[99],"correspondence":[100],"via":[101],"differentiable":[103],"optimal":[104],"transport":[105],"layer,":[106],"use":[108],"encode":[111],"information":[113,146,169,200],"into":[114],"features,":[117],"enhancing":[118,154],"spatial":[119],"consistency":[120],"across":[121],"reference":[123],"frames.":[124],"2)":[125],"apply":[127],"progressive":[129],"direction":[130,145,168],"alignment":[131,136],"strategy":[132],"achieve":[134,174],"rough":[135],"paired":[138],"clouds,":[140],"then":[142],"gradually":[143],"incorporate":[144],"with":[147],"aid":[149],"alignment,":[152],"further":[153],"distinctiveness":[156],"reducing":[158],"ambiguity.":[160],"Through":[161],"process,":[165],"are":[170],"effectively":[171],"integrated":[172],"consistent":[175,198],"distinctive":[177],"enabling":[180],"learning":[182],"discriminative":[184],"features.":[187],"Additionally,":[188],"present":[190],"inlier":[192],"propagation":[193],"mechanism":[194],"that":[195],"harmoniously":[196],"integrates":[197],"encoding.":[203],"proposed":[205],"is":[207],"highly":[208],"efficient,":[209],"introducing":[210],"marginal":[211],"computational":[212],"overhead":[213],"while":[214],"significantly":[215],"improving":[216],"distinguishability.":[218],"Extensive":[219],"experiments":[220],"demonstrate":[221],"superior":[222],"performance":[223],"over":[224],"state-of-the-art":[225],"methods":[226],"indoor,":[228],"outdoor,":[229],"object-level,":[230],"multi-way":[232],"benchmarks,":[233],"well":[235],"strong":[237],"generalization":[238],"complex":[240],"real-world":[241],"scenarios.":[242]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2026-01-14T00:00:00"}