{"id":"https://openalex.org/W2738575781","doi":"https://doi.org/10.23919/mva.2017.7986869","title":"Multi-resolution ICP for the efficient registration of point clouds based on octrees","display_name":"Multi-resolution ICP for the efficient registration of point clouds based on octrees","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2738575781","doi":"https://doi.org/10.23919/mva.2017.7986869","mag":"2738575781"},"language":"en","primary_location":{"id":"doi:10.23919/mva.2017.7986869","is_oa":false,"landing_page_url":"https://doi.org/10.23919/mva.2017.7986869","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 Fifteenth IAPR International Conference on Machine Vision Applications (MVA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5058066622","display_name":"Michiel Vlaminck","orcid":"https://orcid.org/0000-0003-3986-823X"},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Michiel Vlaminck","raw_affiliation_strings":["Image Processing and Interpretation (IPI), Ghent University, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Image Processing and Interpretation (IPI), Ghent University, Belgium","institution_ids":["https://openalex.org/I32597200"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076302373","display_name":"Hi\u00eap Luong","orcid":"https://orcid.org/0000-0002-6246-5538"},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Hiep Luong","raw_affiliation_strings":["Image Processing and Interpretation (IPI), Ghent University, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Image Processing and Interpretation (IPI), Ghent University, Belgium","institution_ids":["https://openalex.org/I32597200"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071483672","display_name":"Wilfried Philips","orcid":"https://orcid.org/0000-0003-4456-4353"},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Wilfried Philips","raw_affiliation_strings":["Image Processing and Interpretation (IPI), Ghent University, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Image Processing and Interpretation (IPI), Ghent University, Belgium","institution_ids":["https://openalex.org/I32597200"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I32597200"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"334","last_page":"337"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9977999925613403,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9976000189781189,"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/point-cloud","display_name":"Point cloud","score":0.8144874572753906},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.772507905960083},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.7393215298652649},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.7288429141044617},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5768064260482788},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.5678128004074097},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5389545559883118},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5323933362960815},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4809774160385132},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2447407841682434},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10386413335800171},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10344085097312927}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8144874572753906},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.772507905960083},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.7393215298652649},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.7288429141044617},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5768064260482788},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.5678128004074097},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5389545559883118},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5323933362960815},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4809774160385132},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2447407841682434},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10386413335800171},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10344085097312927},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/mva.2017.7986869","is_oa":false,"landing_page_url":"https://doi.org/10.23919/mva.2017.7986869","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 Fifteenth IAPR International Conference on Machine Vision Applications (MVA)","raw_type":"proceedings-article"},{"id":"pmh:oai:archive.ugent.be:8511831","is_oa":false,"landing_page_url":"http://hdl.handle.net/1854/LU-8511831","pdf_url":null,"source":{"id":"https://openalex.org/S4306400478","display_name":"Ghent University Academic Bibliography (Ghent University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I32597200","host_organization_name":"Ghent University","host_organization_lineage":["https://openalex.org/I32597200"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISBN: 978-4-9011-2216-0","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1716229439","https://openalex.org/W1987648924","https://openalex.org/W2103420503","https://openalex.org/W2133844819","https://openalex.org/W2148440329","https://openalex.org/W2279795821","https://openalex.org/W2410641873","https://openalex.org/W2546092637","https://openalex.org/W2554671998","https://openalex.org/W6637636807","https://openalex.org/W6675606146"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W2813834476","https://openalex.org/W3016861202","https://openalex.org/W4391129294","https://openalex.org/W2807666361","https://openalex.org/W2196111060","https://openalex.org/W4213431252","https://openalex.org/W4306760020","https://openalex.org/W2120071540"],"abstract_inverted_index":{"In":[0,92],"this":[1],"paper":[2],"we":[3,111],"propose":[4],"a":[5,34,39,51,79,115],"multiresolution":[6,48],"scheme":[7],"based":[8],"on":[9],"hierarchical":[10],"octrees":[11],"for":[12,41,94,108,121],"the":[13,55,74,88,96],"registration":[14],"of":[15,25,70,73,82,90,98,106],"point":[16,23,27,59],"clouds":[17,28],"acquired":[18],"by":[19,118],"lidar":[20],"scanners.":[21],"The":[22],"density":[24],"these":[26],"is":[29,50,64,100],"generally":[30],"sparse":[31],"and":[32],"inhomogeneous,":[33],"property":[35],"that":[36,46],"can":[37,77,112],"yield":[38],"risk":[40],"correct":[42],"alignment.":[43],"Experiments":[44],"demonstrate":[45],"our":[47],"technique":[49],"lot":[52],"faster":[53],"than":[54,84],"traditional":[56],"iterative":[57],"closest":[58],"(ICP)":[60],"algorithm":[61],"while":[62],"it":[63],"more":[65,83],"robust,":[66],"e.g.":[67,103],"in":[68,104],"case":[69,105],"abrupt":[71],"movements":[72],"sensor.":[75],"We":[76],"report":[78],"speed-up":[80,117],"factor":[81],"30,":[85],"without":[86],"jeopardizing":[87],"level":[89,97],"accuracy.":[91],"scenarios":[93],"which":[95],"detail":[99],"less":[101],"critical,":[102],"navigation":[107],"autonomous":[109],"robots,":[110],"even":[113],"achieve":[114],"larger":[116],"trading":[119],"speed":[120],"quality.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
