{"id":"https://openalex.org/W4413146632","doi":"https://doi.org/10.1109/cvpr52734.2025.01099","title":"Dual Focus-Attention Transformer for Robust Point Cloud Registration","display_name":"Dual Focus-Attention Transformer for Robust Point Cloud Registration","publication_year":2025,"publication_date":"2025-06-10","ids":{"openalex":"https://openalex.org/W4413146632","doi":"https://doi.org/10.1109/cvpr52734.2025.01099"},"language":"en","primary_location":{"id":"doi:10.1109/cvpr52734.2025.01099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr52734.2025.01099","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"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/A5006567056","display_name":"Kexue Fu","orcid":"https://orcid.org/0000-0003-1204-0942"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kexue Fu","raw_affiliation_strings":["Qilu University of Technology (Shandong Academy of Sciences),Key Laboratory of Computing Power Network and Information Security, Ministry of Education, Shandong Computer Science Center (National Supercomputer Center in Jinan),Jinan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Qilu University of Technology (Shandong Academy of Sciences),Key Laboratory of Computing Power Network and Information Security, Ministry of Education, Shandong Computer Science Center (National Supercomputer Center in Jinan),Jinan,China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011879942","display_name":"Mingzhi Yuan","orcid":"https://orcid.org/0000-0003-1322-7530"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingzhi Yuan","raw_affiliation_strings":["Fudan University,Digital Medical Research Center, School of Basic Medical Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Digital Medical Research Center, School of Basic Medical Sciences","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020628396","display_name":"Changwei Wang","orcid":"https://orcid.org/0000-0001-8259-7717"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changwei Wang","raw_affiliation_strings":["Qilu University of Technology (Shandong Academy of Sciences),Key Laboratory of Computing Power Network and Information Security, Ministry of Education, Shandong Computer Science Center (National Supercomputer Center in Jinan),Jinan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Qilu University of Technology (Shandong Academy of Sciences),Key Laboratory of Computing Power Network and Information Security, Ministry of Education, Shandong Computer Science Center (National Supercomputer Center in Jinan),Jinan,China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030163245","display_name":"Weiguang Pang","orcid":"https://orcid.org/0000-0003-0208-4677"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiguang Pang","raw_affiliation_strings":["Qilu University of Technology (Shandong Academy of Sciences),Key Laboratory of Computing Power Network and Information Security, Ministry of Education, Shandong Computer Science Center (National Supercomputer Center in Jinan),Jinan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Qilu University of Technology (Shandong Academy of Sciences),Key Laboratory of Computing Power Network and Information Security, Ministry of Education, Shandong Computer Science Center (National Supercomputer Center in Jinan),Jinan,China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032948972","display_name":"Jing Chi","orcid":"https://orcid.org/0000-0001-8872-9987"},"institutions":[{"id":"https://openalex.org/I59483232","display_name":"Shandong University of Finance and Economics","ror":"https://ror.org/02e2nnq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I59483232"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Chi","raw_affiliation_strings":["Shandong University of Finance and Economics,School of Computer Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University of Finance and Economics,School of Computer Science and Technology","institution_ids":["https://openalex.org/I59483232"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039752906","display_name":"Manning Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Manning Wang","raw_affiliation_strings":["Fudan University,Digital Medical Research Center, School of Basic Medical Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Digital Medical Research Center, School of Basic Medical Sciences","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012293028","display_name":"Longxiang Gao","orcid":"https://orcid.org/0000-0002-3026-7537"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longxiang Gao","raw_affiliation_strings":["Qilu University of Technology (Shandong Academy of Sciences),Key Laboratory of Computing Power Network and Information Security, Ministry of Education, Shandong Computer Science Center (National Supercomputer Center in Jinan),Jinan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Qilu University of Technology (Shandong Academy of Sciences),Key Laboratory of Computing Power Network and Information Security, Ministry of Education, Shandong Computer Science Center (National Supercomputer Center in Jinan),Jinan,China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":16.8907,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.99230208,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"11769","last_page":"11778"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9977999925613403,"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":0.9977999925613403,"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":0.9970999956130981,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9890999794006348,"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/computer-science","display_name":"Computer science","score":0.6275163888931274},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5216265320777893},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5083486437797546},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.48775559663772583},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4733288884162903},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.43981948494911194},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34257304668426514},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13934853672981262},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13726302981376648},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07894161343574524}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6275163888931274},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5216265320777893},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5083486437797546},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.48775559663772583},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4733288884162903},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.43981948494911194},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34257304668426514},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13934853672981262},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13726302981376648},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07894161343574524},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cvpr52734.2025.01099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr52734.2025.01099","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337495","display_name":"Technology Development","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"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":{"Recently,":[0],"coarse-to-fine":[1],"methods":[2,37],"for":[3,73],"point":[4,72,114],"cloud":[5],"registration":[6],"have":[7],"achieved":[8],"great":[9],"success,":[10],"but":[11],"few":[12],"works":[13],"deeply":[14],"explore":[15],"the":[16,45,49,70,82,99,104,113,119,128],"impact":[17],"of":[18,101],"feature":[19,42,50,74,110],"interaction":[20,111],"at":[21,44,142],"both":[22],"coarse":[23,83],"and":[24,31,137],"fine":[25,105],"scales.":[26],"By":[27],"visualizing":[28],"attention":[29],"scores":[30],"correspondences,":[32],"we":[33,56,85,107],"find":[34],"that":[35,116,124],"existing":[36],"fail":[38],"to":[39,69,118],"achieve":[40,127],"effective":[41],"aggregation":[43],"two":[46],"scales":[47],"during":[48],"interaction.":[51],"To":[52],"tackle":[53],"this":[54],"issue,":[55],"propose":[57],"a":[58,87],"Dual":[59],"Focus-Attention":[60],"Transformer":[61],"framework,":[62],"which":[63,95],"only":[64,108],"focuses":[65],"on":[66,131],"points":[67],"relevant":[68],"current":[71],"interaction,":[75],"avoiding":[76],"interactions":[77],"with":[78],"irrelevant":[79],"points.":[80],"For":[81,103],"scale,":[84,106],"design":[86],"superpoint":[88],"focus-attention":[89],"transformer":[90],"guided":[91],"by":[92],"sparse":[93],"keypoints,":[94],"are":[96,140],"selected":[97],"from":[98],"neighborhood":[100],"superpoints.":[102],"perform":[109],"between":[112],"sets":[115],"belong":[117],"same":[120],"superpoint.":[121],"Experiments":[122],"show":[123],"our":[125],"method":[126],"state-of-the-art":[129],"performance":[130],"three":[132],"standard":[133],"benchmarks.":[134],"The":[135],"code":[136],"pre-trained":[138],"models":[139],"available":[141],"https://github.com/fukexue/DFAT.git.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}