{"id":"https://openalex.org/W2279795821","doi":"https://doi.org/10.3390/s16020228","title":"Enhanced ICP for the Registration of Large-Scale 3D Environment Models: An Experimental Study","display_name":"Enhanced ICP for the Registration of Large-Scale 3D Environment Models: An Experimental Study","publication_year":2016,"publication_date":"2016-02-15","ids":{"openalex":"https://openalex.org/W2279795821","doi":"https://doi.org/10.3390/s16020228","mag":"2279795821","pmid":"https://pubmed.ncbi.nlm.nih.gov/26891298"},"language":"en","primary_location":{"id":"doi:10.3390/s16020228","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16020228","pdf_url":"https://www.mdpi.com/1424-8220/16/2/228/pdf?version=1455528591","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/16/2/228/pdf?version=1455528591","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100439073","display_name":"Jianda Han","orcid":"https://orcid.org/0000-0002-9664-4534"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianda Han","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074010026","display_name":"Peng Yin","orcid":"https://orcid.org/0000-0001-8398-0988"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Peng Yin","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","University of Chinese Academy of Sciences, Beijing 100049, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100654736","display_name":"Yuqing He","orcid":"https://orcid.org/0000-0001-5067-1169"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuqing He","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101935136","display_name":"Feng Gu","orcid":"https://orcid.org/0000-0002-9032-0803"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Gu","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5074010026","https://openalex.org/A5100654736"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4210165038"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":64.829,"has_fulltext":true,"cited_by_count":36,"citation_normalized_percentile":{"value":0.99608011,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"16","issue":"2","first_page":"228","last_page":"228"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/iterative-closest-point","display_name":"Iterative closest point","score":0.8973623514175415},{"id":"https://openalex.org/keywords/octree","display_name":"Octree","score":0.7206582427024841},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6982372403144836},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5677943229675293},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5600320100784302},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.5527000427246094},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5487556457519531},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5487292408943176},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5222147703170776},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5144507884979248},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5122215151786804},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5103818774223328},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4726356863975525},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.42915624380111694},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3214714527130127},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11614137887954712},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10392323136329651}],"concepts":[{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.8973623514175415},{"id":"https://openalex.org/C141297171","wikidata":"https://www.wikidata.org/wiki/Q1143237","display_name":"Octree","level":2,"score":0.7206582427024841},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6982372403144836},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5677943229675293},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5600320100784302},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.5527000427246094},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5487556457519531},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5487292408943176},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5222147703170776},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5144507884979248},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5122215151786804},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5103818774223328},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4726356863975525},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.42915624380111694},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3214714527130127},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11614137887954712},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10392323136329651},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s16020228","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16020228","pdf_url":"https://www.mdpi.com/1424-8220/16/2/228/pdf?version=1455528591","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:26891298","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/26891298","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:419a0af4d6644366b1dea6422c59d5ca","is_oa":true,"landing_page_url":"https://doaj.org/article/419a0af4d6644366b1dea6422c59d5ca","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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 16, Iss 2, p 228 (2016)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:3773223","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4801604","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":null,"raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s16020228","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16020228","pdf_url":"https://www.mdpi.com/1424-8220/16/2/228/pdf?version=1455528591","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","score":0.5099999904632568,"display_name":"Life in Land"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320326907","display_name":"State Key Laboratory of Robotics","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2279795821.pdf","grobid_xml":"https://content.openalex.org/works/W2279795821.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1883517952","https://openalex.org/W1994075312","https://openalex.org/W2044670959","https://openalex.org/W2049981393","https://openalex.org/W2058535340","https://openalex.org/W2063205876","https://openalex.org/W2063549868","https://openalex.org/W2075751931","https://openalex.org/W2097832352","https://openalex.org/W2099046646","https://openalex.org/W2100865071","https://openalex.org/W2104257528","https://openalex.org/W2118104180","https://openalex.org/W2130989445","https://openalex.org/W2133844819","https://openalex.org/W2135209101","https://openalex.org/W2143255850","https://openalex.org/W2148440329","https://openalex.org/W2151103935","https://openalex.org/W2152864241","https://openalex.org/W2158502918","https://openalex.org/W2159212388","https://openalex.org/W2160821342","https://openalex.org/W6679642685"],"related_works":["https://openalex.org/W2813834476","https://openalex.org/W4200108838","https://openalex.org/W4391129294","https://openalex.org/W2392034603","https://openalex.org/W3016861202","https://openalex.org/W1521225173","https://openalex.org/W2352029666","https://openalex.org/W2360323129","https://openalex.org/W2095605744","https://openalex.org/W2807666361"],"abstract_inverted_index":{"One":[0,16],"of":[1,5,12,17,21,51,125,135],"the":[2,9,13,18,46,63,75,115,132,136],"main":[3,19],"applications":[4],"mobile":[6],"robots":[7],"is":[8,24,60,71,90],"large-scale":[10],"perception":[11],"outdoor":[14],"environment.":[15],"challenges":[20],"this":[22],"application":[23],"fusing":[25],"environmental":[26,53],"data":[27],"obtained":[28],"by":[29],"multiple":[30],"robots,":[31],"especially":[32],"heterogeneous":[33],"robots.":[34],"This":[35],"paper":[36],"proposes":[37],"an":[38,68],"enhanced":[39],"iterative":[40],"closest":[41],"point":[42],"(ICP)":[43],"method":[44],"for":[45],"fast":[47],"and":[48,96,106],"accurate":[49],"registration":[50,128],"3D":[52],"models.":[54],"First,":[55],"a":[56,80],"hierarchical":[57],"searching":[58],"scheme":[59,83],"combined":[61],"with":[62,123],"octree-based":[64],"ICP":[65,127],"algorithm.":[66],"Second,":[67],"early-warning":[69],"mechanism":[70],"used":[72,91],"to":[73,92,113,130],"perceive":[74],"local":[76,94],"minimum":[77],"problem.":[78],"Third,":[79],"heuristic":[81],"escape":[82],"based":[84],"on":[85],"sampled":[86],"potential":[87],"transformation":[88],"vectors":[89],"avoid":[93],"minima":[95],"achieve":[97],"optimal":[98],"registration.":[99],"Experiments":[100],"involving":[101],"one":[102,107],"unmanned":[103,108],"aerial":[104],"vehicle":[105,110],"surface":[109],"were":[111,121],"conducted":[112],"verify":[114],"proposed":[116,137],"technique.":[117],"The":[118],"experimental":[119],"results":[120],"compared":[122],"those":[124],"normal":[126],"algorithms":[129],"demonstrate":[131],"superior":[133],"performance":[134],"method.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}