{"id":"https://openalex.org/W4402259064","doi":"https://doi.org/10.1109/tvcg.2024.3453276","title":"HA-TiNet: Learning a Distinctive and General 3D Local Descriptor for Point Cloud Registration","display_name":"HA-TiNet: Learning a Distinctive and General 3D Local Descriptor for Point Cloud Registration","publication_year":2024,"publication_date":"2024-09-05","ids":{"openalex":"https://openalex.org/W4402259064","doi":"https://doi.org/10.1109/tvcg.2024.3453276","pmid":"https://pubmed.ncbi.nlm.nih.gov/39236130"},"language":"en","primary_location":{"id":"doi:10.1109/tvcg.2024.3453276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvcg.2024.3453276","pdf_url":null,"source":{"id":"https://openalex.org/S84775595","display_name":"IEEE Transactions on Visualization and Computer Graphics","issn_l":"1077-2626","issn":["1077-2626","1941-0506","2160-9306"],"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 Visualization and Computer Graphics","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/A5103077504","display_name":"Bao Zhao","orcid":"https://orcid.org/0000-0002-8380-6119"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bao Zhao","raw_affiliation_strings":["School of Internet, Anhui University, Hefei, China"],"affiliations":[{"raw_affiliation_string":"School of Internet, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100409479","display_name":"Qiang Liu","orcid":"https://orcid.org/0000-0002-5451-4862"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Liu","raw_affiliation_strings":["School of Internet, Anhui University, Hefei, China"],"affiliations":[{"raw_affiliation_string":"School of Internet, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081506052","display_name":"Z. Wang","orcid":"https://orcid.org/0000-0001-9397-9163"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zihan Wang","raw_affiliation_strings":["School of Internet, Anhui University, Hefei, China"],"affiliations":[{"raw_affiliation_string":"School of Internet, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061630474","display_name":"Xiaobo Chen","orcid":"https://orcid.org/0000-0003-0164-6471"},"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":"Xiaobo Chen","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","School of Mechanical Engineering, Shanghai Jiao Tong University, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017935525","display_name":"Zhaohong Jia","orcid":"https://orcid.org/0000-0001-6607-7025"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaohong Jia","raw_affiliation_strings":["School of Internet, Anhui University, Hefei, China"],"affiliations":[{"raw_affiliation_string":"School of Internet, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025474414","display_name":"Dong Liang","orcid":"https://orcid.org/0000-0001-6257-0875"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Liang","raw_affiliation_strings":["School of Internet, Anhui University, Hefei, China"],"affiliations":[{"raw_affiliation_string":"School of Internet, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5103077504"],"corresponding_institution_ids":["https://openalex.org/I143868143"],"apc_list":null,"apc_paid":null,"fwci":2.6308,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.90280722,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"31","issue":"9","first_page":"5507","last_page":"5518"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9994999766349792,"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"}},"topics":[{"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":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9987999796867371,"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":0.7655921578407288},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7394832372665405},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4954625368118286},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4860156178474426},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4703887701034546},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3590337932109833},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3526020348072052},{"id":"https://openalex.org/keywords/information-retrieval","display_name":"Information retrieval","score":0.32747212052345276},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08675575256347656}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7655921578407288},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7394832372665405},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4954625368118286},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4860156178474426},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4703887701034546},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3590337932109833},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3526020348072052},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.32747212052345276},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08675575256347656},{"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/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/tvcg.2024.3453276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvcg.2024.3453276","pdf_url":null,"source":{"id":"https://openalex.org/S84775595","display_name":"IEEE Transactions on Visualization and Computer Graphics","issn_l":"1077-2626","issn":["1077-2626","1941-0506","2160-9306"],"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 Visualization and Computer Graphics","raw_type":"journal-article"},{"id":"pmid:39236130","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39236130","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 visualization and computer graphics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3922272447","display_name":null,"funder_award_id":"62273001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4683797332","display_name":null,"funder_award_id":"62203007","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8487045452","display_name":null,"funder_award_id":"52175478","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":74,"referenced_works":["https://openalex.org/W1965805571","https://openalex.org/W1966790179","https://openalex.org/W1972485825","https://openalex.org/W1977077642","https://openalex.org/W2003447360","https://openalex.org/W2024039087","https://openalex.org/W2049981393","https://openalex.org/W2085261163","https://openalex.org/W2087064409","https://openalex.org/W2098764590","https://openalex.org/W2099606917","https://openalex.org/W2115579991","https://openalex.org/W2130558599","https://openalex.org/W2150066425","https://openalex.org/W2160821342","https://openalex.org/W2194775991","https://openalex.org/W2556205602","https://openalex.org/W2560609797","https://openalex.org/W2566265240","https://openalex.org/W2605618441","https://openalex.org/W2754121749","https://openalex.org/W2793187686","https://openalex.org/W2796426482","https://openalex.org/W2799783330","https://openalex.org/W2883357174","https://openalex.org/W2889300857","https://openalex.org/W2938746219","https://openalex.org/W2954422230","https://openalex.org/W2962941647","https://openalex.org/W2963388209","https://openalex.org/W2963666542","https://openalex.org/W2964014140","https://openalex.org/W2981995220","https://openalex.org/W2990613095","https://openalex.org/W3006245489","https://openalex.org/W3016297894","https://openalex.org/W3034266912","https://openalex.org/W3034675048","https://openalex.org/W3089905794","https://openalex.org/W3097606838","https://openalex.org/W3103586669","https://openalex.org/W3162959074","https://openalex.org/W3167684723","https://openalex.org/W3175249325","https://openalex.org/W3177280664","https://openalex.org/W3211345561","https://openalex.org/W4205205600","https://openalex.org/W4221015610","https://openalex.org/W4225540105","https://openalex.org/W4226327324","https://openalex.org/W4280630571","https://openalex.org/W4282934516","https://openalex.org/W4307396019","https://openalex.org/W4312516208","https://openalex.org/W4328007191","https://openalex.org/W4377294675","https://openalex.org/W4379985979","https://openalex.org/W4385245566","https://openalex.org/W4385708853","https://openalex.org/W4386065549","https://openalex.org/W4386065804","https://openalex.org/W4386076224","https://openalex.org/W4386124355","https://openalex.org/W4386918727","https://openalex.org/W4388494032","https://openalex.org/W4388739232","https://openalex.org/W4389667330","https://openalex.org/W4390533816","https://openalex.org/W4391958096","https://openalex.org/W4392173854","https://openalex.org/W6738345448","https://openalex.org/W6739778489","https://openalex.org/W6766978945","https://openalex.org/W6802758728"],"related_works":["https://openalex.org/W4244478748","https://openalex.org/W3150465815","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/W2802581102","https://openalex.org/W4205786897"],"abstract_inverted_index":{"Extracting":[0],"geometric":[1],"features":[2],"from":[3],"3D":[4,38],"point":[5],"clouds":[6],"is":[7,42,153],"widely":[8],"applied":[9],"in":[10,83,100,125],"many":[11],"tasks,":[12],"including":[13],"registration":[14],"and":[15,36,49,73,80,105,107,146,176,187,191],"recognition.":[16],"We":[17],"propose":[18],"a":[19,33,45,50,56,76,89,143,147],"simple":[20],"yet":[21],"effective":[22],"method,":[23],"termed":[24],"height-azimuth":[25,46,62,92,96,140],"image":[26,47,63],"based":[27],"transformation-invariant":[28],"net":[29,134],"(HA-TiNet),":[30],"to":[31,87,112,195],"learn":[32],"distinctive,":[34],"general":[35],"rotation-invariant":[37,148,159],"local":[39,57,67],"descriptor.":[40],"HA-TiNet":[41],"composed":[43],"of":[44,78,91,116],"generator":[48,64],"feature":[51,132],"extraction":[52,133],"net.":[53],"Based":[54],"on":[55,138,174],"reference":[58],"axis":[59],"(LRA),":[60],"the":[61,70,101,113,136,139,162,196],"first":[65],"partitions":[66],"region":[68],"along":[69],"plane-radial":[71],"direction,":[72],"then":[74],"implements":[75],"statistic":[77],"height":[79],"azimuth":[81],"information":[82,137],"each":[84],"divided":[85],"space":[86],"generate":[88],"set":[90],"images.":[93],"The":[94,150,158],"generated":[95],"images":[97,141],"are":[98],"invariant":[99],"rotation":[102],"around":[103,164],"x-":[104],"y-axes":[106],"have":[108,169],"high":[109,114],"accuracy":[110],"due":[111],"repeatability":[115],"an":[117],"LRA.":[118],"Besides,":[119],"they":[120],"can":[121],"be":[122],"easily":[123],"embedded":[124],"2D":[126],"convolutional":[127],"neural":[128],"networks":[129],"(CNNs).":[130],"Our":[131],"learns":[135],"using":[142],"ResNet-based":[144,151],"backbone":[145,152],"layer.":[149],"lightweight":[154],"while":[155],"very":[156],"effective.":[157],"layer":[160],"removes":[161],"rotation-variance":[163],"z-axis,":[165],"making":[166],"our":[167,181],"descriptor":[168],"full":[170],"rotation-invariance.":[171],"Extensive":[172],"experiments":[173],"indoor":[175],"outdoor":[177],"datasets":[178],"show":[179],"that":[180],"method":[182],"presents":[183],"superior":[184],"overall":[185],"performance,":[186],"exhibits":[188],"strong":[189],"descriptiveness":[190],"generalization":[192],"ability":[193],"compared":[194],"state-of-the-art":[197],"descriptors.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-08T08:50:53.379069","created_date":"2025-10-10T00:00:00"}
