{"id":"https://openalex.org/W4384559436","doi":"https://doi.org/10.3389/frobt.2023.1019579","title":"SPaM: soft patch matching for non-rigid pointcloud registration","display_name":"SPaM: soft patch matching for non-rigid pointcloud registration","publication_year":2023,"publication_date":"2023-07-17","ids":{"openalex":"https://openalex.org/W4384559436","doi":"https://doi.org/10.3389/frobt.2023.1019579","pmid":"https://pubmed.ncbi.nlm.nih.gov/37529483"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2023.1019579","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1019579","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1019579/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1019579/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027506387","display_name":"Behnam Maleki","orcid":"https://orcid.org/0000-0003-2403-1197"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Behnam Maleki","raw_affiliation_strings":["Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047963491","display_name":"Raphael Falque","orcid":"https://orcid.org/0000-0003-4436-647X"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Raphael Falque","raw_affiliation_strings":["Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086794522","display_name":"Teresa Vidal\u2010Calleja","orcid":"https://orcid.org/0000-0002-5763-9644"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Teresa Vidal-Calleja","raw_affiliation_strings":["Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075161617","display_name":"Alen Alempijevic","orcid":"https://orcid.org/0000-0002-1769-8041"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Alen Alempijevic","raw_affiliation_strings":["Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5027506387"],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":0.8824,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.80467656,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"10","issue":null,"first_page":"1019579","last_page":"1019579"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9962999820709229,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9961000084877014,"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":0.7885493040084839},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6395894289016724},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5314338207244873},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.5141832828521729},{"id":"https://openalex.org/keywords/rigid-transformation","display_name":"Rigid transformation","score":0.47157660126686096},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.42865189909935},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.42097219824790955}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7885493040084839},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6395894289016724},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5314338207244873},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5141832828521729},{"id":"https://openalex.org/C126795593","wikidata":"https://www.wikidata.org/wiki/Q7333813","display_name":"Rigid transformation","level":2,"score":0.47157660126686096},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.42865189909935},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.42097219824790955}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/frobt.2023.1019579","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1019579","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1019579/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:37529483","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37529483","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":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10387535","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10387535","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10387535/pdf/frobt-10-1019579.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:fd7fc87a61ee4fee80f07d9577b1ad33","is_oa":true,"landing_page_url":"https://doaj.org/article/fd7fc87a61ee4fee80f07d9577b1ad33","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 10 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/frobt.2023.1019579","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1019579","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1019579/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320464","display_name":"Meat and Livestock Australia","ror":"https://ror.org/02z8j1p10"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4384559436.pdf"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1972485825","https://openalex.org/W2008073424","https://openalex.org/W2047161559","https://openalex.org/W2083620785","https://openalex.org/W2151636374","https://openalex.org/W2438292525","https://openalex.org/W2461005315","https://openalex.org/W2461937780","https://openalex.org/W2519715178","https://openalex.org/W2805360354","https://openalex.org/W2811284902","https://openalex.org/W2892316730","https://openalex.org/W2901259189","https://openalex.org/W2961325344","https://openalex.org/W3099938607","https://openalex.org/W3124420883","https://openalex.org/W3137158176","https://openalex.org/W4236965008","https://openalex.org/W4246818198","https://openalex.org/W4301409532","https://openalex.org/W4362597616","https://openalex.org/W6640575961","https://openalex.org/W6652231383","https://openalex.org/W6682441149","https://openalex.org/W6693084140","https://openalex.org/W6701278468","https://openalex.org/W6741149164","https://openalex.org/W6746564055","https://openalex.org/W6749973472","https://openalex.org/W6755690655","https://openalex.org/W6756242355"],"related_works":["https://openalex.org/W4245917595","https://openalex.org/W2807666361","https://openalex.org/W2541675530","https://openalex.org/W3133797311","https://openalex.org/W3200139265","https://openalex.org/W2350930271","https://openalex.org/W4403874266","https://openalex.org/W3212285421","https://openalex.org/W4384300934","https://openalex.org/W3217574491"],"abstract_inverted_index":{"3d":[0],"reconstruction":[1],"of":[2,12,65,73,79,102,108,148],"deformable":[3,53],"objects":[4],"in":[5,83,132,162],"dynamic":[6],"scenes":[7],"forms":[8],"the":[9,99,120,146,149,163],"fundamental":[10],"basis":[11],"many":[13],"robotic":[14],"applications.":[15],"Existing":[16],"mesh-based":[17],"approaches":[18],"compromise":[19],"registration":[20,34,48],"accuracy,":[21],"and":[22,29,40,94,136,141],"lose":[23],"important":[24],"details":[25],"due":[26],"to":[27,122,152],"interpolation":[28],"smoothing.":[30],"Additionally,":[31],"existing":[32],"non-rigid":[33,47,63],"techniques":[35],"struggle":[36],"with":[37,154,158],"unindexed":[38],"points":[39],"disconnected":[41],"manifolds.":[42],"We":[43],"propose":[44],"a":[45,114,124],"novel":[46],"framework":[49],"for":[50,134],"raw,":[51],"unstructured,":[52],"point":[54],"clouds":[55],"purely":[56],"based":[57,90],"on":[58,91,139],"geometric":[59],"features.":[60],"The":[61,77],"global":[62],"deformation":[64],"an":[66,71],"object":[67],"is":[68,81],"formulated":[69],"as":[70,119],"aggregation":[72],"locally":[74],"rigid":[75],"transformations.":[76],"concept":[78],"locality":[80],"embodied":[82],"soft":[84,106],"patches":[85,107],"described":[86],"by":[87],"geometrical":[88],"properties":[89],"SHOT":[92],"descriptor":[93],"its":[95],"neighborhood.":[96],"By":[97],"considering":[98],"confidence":[100],"score":[101],"pairwise":[103],"association":[104],"between":[105],"two":[109],"scans":[110],"(not":[111],"necessarily":[112],"consecutive),":[113],"computed":[115],"similarity":[116],"matrix":[117],"serves":[118],"seed":[121],"grow":[123],"correspondence":[125],"graph":[126],"which":[127],"leverages":[128],"rigidity":[129],"terms":[130],"defined":[131],"As-Rigid-As-Possible":[133],"pruning":[135],"optimization.":[137],"Experiments":[138],"simulated":[140],"publicly":[142],"available":[143],"datasets":[144],"demonstrate":[145],"capability":[147],"proposed":[150],"approach":[151],"cope":[153],"large":[155],"deformations":[156],"blended":[157],"numerous":[159],"missing":[160],"parts":[161],"scan":[164],"process.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}
