{"id":"https://openalex.org/W2625996742","doi":"https://doi.org/10.1145/3095140.3097282","title":"Initial alignment of point clouds using motors","display_name":"Initial alignment of point clouds using motors","publication_year":2017,"publication_date":"2017-06-13","ids":{"openalex":"https://openalex.org/W2625996742","doi":"https://doi.org/10.1145/3095140.3097282","mag":"2625996742"},"language":"en","primary_location":{"id":"doi:10.1145/3095140.3097282","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3095140.3097282","pdf_url":"http://dl.acm.org/ft_gateway.cfm?id=3097282&type=pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Computer Graphics International Conference","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"http://dl.acm.org/ft_gateway.cfm?id=3097282&type=pdf","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012856279","display_name":"Adam Leon Kleppe","orcid":"https://orcid.org/0000-0003-1505-678X"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":true,"raw_author_name":"Adam Leon Kleppe","raw_affiliation_strings":["Norwegian University of Science and Technology, Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086444346","display_name":"Lars Tingelstad","orcid":"https://orcid.org/0000-0002-3429-7215"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Lars Tingelstad","raw_affiliation_strings":["Norwegian University of Science and Technology, Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021192390","display_name":"Olav Egeland","orcid":"https://orcid.org/0000-0001-5472-9743"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Olav Egeland","raw_affiliation_strings":["Norwegian University of Science and Technology, Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5012856279"],"corresponding_institution_ids":["https://openalex.org/I204778367"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.06919678,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9988999962806702,"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9988999962806702,"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/T10888","display_name":"Augmented Reality Applications","score":0.9966999888420105,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"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/point-cloud","display_name":"Point cloud","score":0.906935453414917},{"id":"https://openalex.org/keywords/centroid","display_name":"Centroid","score":0.734941840171814},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6405752301216125},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.6309096813201904},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.5888750553131104},{"id":"https://openalex.org/keywords/conformal-geometric-algebra","display_name":"Conformal geometric algebra","score":0.5564841032028198},{"id":"https://openalex.org/keywords/conformal-map","display_name":"Conformal map","score":0.541212797164917},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42818087339401245},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.42488428950309753},{"id":"https://openalex.org/keywords/moving-least-squares","display_name":"Moving least squares","score":0.4201195240020752},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.41125842928886414},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.41039741039276123},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3977417051792145},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23525744676589966},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.21287932991981506},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.15776711702346802},{"id":"https://openalex.org/keywords/geometric-algebra","display_name":"Geometric algebra","score":0.1465810239315033},{"id":"https://openalex.org/keywords/algebra-over-a-field","display_name":"Algebra over a field","score":0.1288745105266571}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.906935453414917},{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.734941840171814},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6405752301216125},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.6309096813201904},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.5888750553131104},{"id":"https://openalex.org/C147898140","wikidata":"https://www.wikidata.org/wiki/Q5160252","display_name":"Conformal geometric algebra","level":5,"score":0.5564841032028198},{"id":"https://openalex.org/C98214594","wikidata":"https://www.wikidata.org/wiki/Q850275","display_name":"Conformal map","level":2,"score":0.541212797164917},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42818087339401245},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.42488428950309753},{"id":"https://openalex.org/C2780580100","wikidata":"https://www.wikidata.org/wiki/Q6927143","display_name":"Moving least squares","level":2,"score":0.4201195240020752},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.41125842928886414},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.41039741039276123},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3977417051792145},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23525744676589966},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.21287932991981506},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.15776711702346802},{"id":"https://openalex.org/C180671464","wikidata":"https://www.wikidata.org/wiki/Q1186649","display_name":"Geometric algebra","level":4,"score":0.1465810239315033},{"id":"https://openalex.org/C136119220","wikidata":"https://www.wikidata.org/wiki/Q1000660","display_name":"Algebra over a field","level":2,"score":0.1288745105266571},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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/C169171071","wikidata":"https://www.wikidata.org/wiki/Q5449241","display_name":"Filtered algebra","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3095140.3097282","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3095140.3097282","pdf_url":"http://dl.acm.org/ft_gateway.cfm?id=3097282&type=pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Computer Graphics International Conference","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3095140.3097282","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3095140.3097282","pdf_url":"http://dl.acm.org/ft_gateway.cfm?id=3097282&type=pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Computer Graphics International Conference","raw_type":"proceedings-article"},"sustainable_development_goals":[{"score":0.4300000071525574,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2625996742.pdf","grobid_xml":"https://content.openalex.org/works/W2625996742.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W195945022","https://openalex.org/W1563354748","https://openalex.org/W1883517952","https://openalex.org/W1964316227","https://openalex.org/W1993267444","https://openalex.org/W2026481133","https://openalex.org/W2033574012","https://openalex.org/W2049981393","https://openalex.org/W2050174852","https://openalex.org/W2097832352","https://openalex.org/W2099606917","https://openalex.org/W2104845659","https://openalex.org/W2107528150","https://openalex.org/W2107768848","https://openalex.org/W2116021467","https://openalex.org/W2118631462","https://openalex.org/W2119851068","https://openalex.org/W2121349631","https://openalex.org/W2160821342","https://openalex.org/W2164703480","https://openalex.org/W2169467475","https://openalex.org/W2440849017","https://openalex.org/W2510832559"],"related_works":["https://openalex.org/W2381926679","https://openalex.org/W2007009951","https://openalex.org/W2082644203","https://openalex.org/W2350539780","https://openalex.org/W3165040664","https://openalex.org/W3122652148","https://openalex.org/W1583866266","https://openalex.org/W1482033952","https://openalex.org/W1973974353","https://openalex.org/W2469962471"],"abstract_inverted_index":{"This":[0,42],"paper":[1],"presents":[2],"an":[3],"approach":[4,43],"for":[5],"initial":[6],"alignment":[7],"or":[8],"coarse":[9],"registration":[10],"of":[11,17,27],"a":[12,35],"partial":[13],"3D":[14],"point":[15,32],"cloud":[16],"objects.":[18],"The":[19,57],"method":[20,58],"is":[21,65],"based":[22],"on":[23],"computing":[24],"the":[25,28,31,39,55,72],"centroid":[26],"points":[29,74],"in":[30,61],"cloud,":[33],"and":[34,48,63],"line":[36],"derived":[37],"from":[38],"surface":[40],"normals.":[41],"uses":[44],"conformal":[45],"geometric":[46],"algebra":[47],"non-linear":[49],"least":[50],"squares":[51],"optimization":[52],"to":[53],"achieve":[54],"results.":[56],"performs":[59,69],"well":[60],"experiments,":[62],"it":[64,68],"shown":[66],"that":[67],"more":[70,73],"accurately":[71],"are":[75],"sampled.":[76]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}