{"id":"https://openalex.org/W3197158243","doi":"https://doi.org/10.3390/s21175778","title":"TIF-Reg: Point Cloud Registration with Transform-Invariant Features in SE(3)","display_name":"TIF-Reg: Point Cloud Registration with Transform-Invariant Features in SE(3)","publication_year":2021,"publication_date":"2021-08-27","ids":{"openalex":"https://openalex.org/W3197158243","doi":"https://doi.org/10.3390/s21175778","mag":"3197158243","pmid":"https://pubmed.ncbi.nlm.nih.gov/34502669"},"language":"en","primary_location":{"id":"doi:10.3390/s21175778","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21175778","pdf_url":"https://www.mdpi.com/1424-8220/21/17/5778/pdf?version=1630312635","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/1424-8220/21/17/5778/pdf?version=1630312635","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009442566","display_name":"Baifan Chen","orcid":"https://orcid.org/0000-0001-9547-8530"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Baifan Chen","raw_affiliation_strings":["School of Automation, Central South University, Changsha 410083, China"],"raw_orcid":"https://orcid.org/0000-0001-9547-8530","affiliations":[{"raw_affiliation_string":"School of Automation, Central South University, Changsha 410083, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100420460","display_name":"Hong Chen","orcid":"https://orcid.org/0000-0003-0879-5090"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Chen","raw_affiliation_strings":["School of Automation, Central South University, Changsha 410083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Central South University, Changsha 410083, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077089280","display_name":"Baojun Song","orcid":"https://orcid.org/0000-0002-1450-9786"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baojun Song","raw_affiliation_strings":["School of Automation, Central South University, Changsha 410083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Central South University, Changsha 410083, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112682150","display_name":"Grace Gong","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Grace Gong","raw_affiliation_strings":["The Cheriton School of Computer Science, University of Waterloo, Waterloo, ON N2L 3G1, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Cheriton School of Computer Science, University of Waterloo, Waterloo, ON N2L 3G1, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5009442566"],"corresponding_institution_ids":["https://openalex.org/I139660479"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.1782,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.47156024,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"21","issue":"17","first_page":"5778","last_page":"5778"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9994999766349792,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9994999766349792,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9991999864578247,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6995086669921875},{"id":"https://openalex.org/keywords/rigid-transformation","display_name":"Rigid transformation","score":0.6073884963989258},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.597396194934845},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.5691626667976379},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5543429851531982},{"id":"https://openalex.org/keywords/singular-value-decomposition","display_name":"Singular value decomposition","score":0.5420686602592468},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4980499744415283},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.4524884521961212},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.45137113332748413},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.44891414046287537},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.43281662464141846},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.43087148666381836},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.42924994230270386},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.4143190383911133},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40464597940444946},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.36062318086624146},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3303595781326294},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1048089861869812}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6995086669921875},{"id":"https://openalex.org/C126795593","wikidata":"https://www.wikidata.org/wiki/Q7333813","display_name":"Rigid transformation","level":2,"score":0.6073884963989258},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.597396194934845},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.5691626667976379},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5543429851531982},{"id":"https://openalex.org/C22789450","wikidata":"https://www.wikidata.org/wiki/Q420904","display_name":"Singular value decomposition","level":2,"score":0.5420686602592468},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4980499744415283},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.4524884521961212},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.45137113332748413},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.44891414046287537},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.43281662464141846},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.43087148666381836},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.42924994230270386},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.4143190383911133},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40464597940444946},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.36062318086624146},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3303595781326294},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1048089861869812},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012399","descriptor_name":"Rotation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012399","descriptor_name":"Rotation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012399","descriptor_name":"Rotation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":5,"locations":[{"id":"doi:10.3390/s21175778","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21175778","pdf_url":"https://www.mdpi.com/1424-8220/21/17/5778/pdf?version=1630312635","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:34502669","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34502669","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:99f5026eaa7a47668604ddac66adccee","is_oa":true,"landing_page_url":"https://doaj.org/article/99f5026eaa7a47668604ddac66adccee","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"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 21, Iss 17, p 5778 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/17/5778/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21175778","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Sensors; Volume 21; Issue 17; Pages: 5778","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8434253","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8434253","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s21175778","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21175778","pdf_url":"https://www.mdpi.com/1424-8220/21/17/5778/pdf?version=1630312635","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":[],"awards":[{"id":"https://openalex.org/G1777924113","display_name":null,"funder_award_id":"HBIR202009","funder_id":"https://openalex.org/F4320325438","funder_display_name":"Wuhan Institute of Technology"}],"funders":[{"id":"https://openalex.org/F4320325438","display_name":"Wuhan Institute of Technology","ror":"https://ror.org/04jcykh16"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3197158243.pdf","grobid_xml":"https://content.openalex.org/works/W3197158243.grobid-xml"},"referenced_works_count":49,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1920022804","https://openalex.org/W1957167950","https://openalex.org/W2012596828","https://openalex.org/W2033574012","https://openalex.org/W2049981393","https://openalex.org/W2063463366","https://openalex.org/W2107528150","https://openalex.org/W2160821342","https://openalex.org/W2171592532","https://openalex.org/W2277848489","https://openalex.org/W2344109021","https://openalex.org/W2624503621","https://openalex.org/W2626778328","https://openalex.org/W2737234477","https://openalex.org/W2770046775","https://openalex.org/W2937303414","https://openalex.org/W2944143243","https://openalex.org/W2944796900","https://openalex.org/W2950642167","https://openalex.org/W2952054889","https://openalex.org/W2955307761","https://openalex.org/W2955544543","https://openalex.org/W2962731536","https://openalex.org/W2962843082","https://openalex.org/W2962928871","https://openalex.org/W2963121255","https://openalex.org/W2963264709","https://openalex.org/W2963785280","https://openalex.org/W2971088236","https://openalex.org/W2979240068","https://openalex.org/W2979400304","https://openalex.org/W2979750740","https://openalex.org/W2986382673","https://openalex.org/W2990111328","https://openalex.org/W3032293597","https://openalex.org/W3084704703","https://openalex.org/W3103830808","https://openalex.org/W3104141662","https://openalex.org/W3104408604","https://openalex.org/W3111747358","https://openalex.org/W3119699640","https://openalex.org/W6640300118","https://openalex.org/W6640926891","https://openalex.org/W6694954494","https://openalex.org/W6739901393","https://openalex.org/W6747904511","https://openalex.org/W6817117944","https://openalex.org/W6910779650"],"related_works":["https://openalex.org/W2168584693","https://openalex.org/W2519648241","https://openalex.org/W4206409166","https://openalex.org/W3082975905","https://openalex.org/W2784146774","https://openalex.org/W4245917595","https://openalex.org/W2004640125","https://openalex.org/W2118640186","https://openalex.org/W2027919853","https://openalex.org/W2171028602"],"abstract_inverted_index":{"Three-dimensional":[0],"point":[1,29,55,83,129,164,175],"cloud":[2,30,56,165],"registration":[3,31,57,183],"(PCReg)":[4],"has":[5],"a":[6,39,54,113,147,151],"wide":[7],"range":[8],"of":[9,28,128,160,219,226,257,291,309],"applications":[10],"in":[11,25,32,102,172,186,307],"computer":[12],"vision,":[13],"3D":[14,107],"reconstruction":[15],"and":[16,62,86,116,178,197,223,311],"medical":[17],"fields.":[18],"Although":[19],"numerous":[20],"advances":[21],"have":[22],"been":[23],"achieved":[24],"the":[26,73,94,106,125,132,157,173,179,187,199,203,213,224,235,243,255,261,265,280,287,298],"field":[27],"recent":[33],"years,":[34],"large-scale":[35],"rigid":[36,108,137],"transformation":[37,109,126,181],"is":[38,166,184,237,245,301],"problem":[40],"that":[41,209,273,297],"most":[42],"algorithms":[43,306],"still":[44],"cannot":[45],"effectively":[46],"handle.":[47],"To":[48],"solve":[49],"this":[50],"problem,":[51],"we":[52,99,194],"propose":[53],"method":[58,201,211,259,300],"based":[59],"on":[60,202,260,268,283],"learning":[61],"transform-invariant":[63,74,95],"features":[64],"(TIF-Reg).":[65],"Our":[66],"algorithm":[67,133],"includes":[68],"four":[69],"modules,":[70],"which":[71,111,285],"are":[72,277],"feature":[75,79,96,115,119,141],"extraction":[76,97],"module,":[77,81,98,177],"deep":[78,140,152],"embedding":[80,142],"corresponding":[82,163,174],"generation":[84,176],"module":[85,143],"decoupled":[87,188],"singular":[88],"value":[89],"decomposition":[90],"(SVD)":[91],"module.":[92,190],"In":[93,191],"design":[100],"TIF":[101,145],"SE(3)":[103],"(which":[104],"means":[105],"space)":[110],"contains":[112],"triangular":[114],"local":[117],"density":[118],"for":[120,182],"points.":[121],"It":[122],"fully":[123],"exploits":[124],"invariance":[127],"clouds,":[130],"making":[131],"highly":[134],"robust":[135],"to":[136,230,239,247,279,303],"transformation.":[138],"The":[139,162,206,270],"embeds":[144],"into":[146],"high-dimension":[148],"space":[149],"using":[150,168,264],"neural":[153],"network,":[154],"further":[155],"improving":[156],"expression":[158],"ability":[159,290],"features.":[161],"generated":[167],"an":[169,192],"attention":[170],"mechanism":[171],"final":[180],"calculated":[185],"SVD":[189],"experiment,":[193],"first":[195],"train":[196],"evaluate":[198],"TIF-Reg":[200],"ModelNet40":[204],"dataset.":[205],"results":[207,271,282],"show":[208,272],"our":[210,258,274,292],"keeps":[212],"root":[214],"mean":[215],"squared":[216],"error":[217,228],"(RMSE)":[218],"rotation":[220,236],"within":[221],"0.5\u2218":[222],"RMSE":[225],"translation":[227,244],"close":[229,278],"0":[231],"m,":[232,249],"even":[233],"when":[234],"up":[238,246],"[-180\u2218,":[240],"180\u2218]":[241],"or":[242],"[-20":[248],"20":[250],"m].":[251],"We":[252],"also":[253],"test":[254],"generalization":[256,289],"TUM3D":[262],"dataset":[263],"model":[266],"trained":[267],"Modelnet40.":[269],"method's":[275],"errors":[276],"experimental":[281],"Modelnet40,":[284],"verifies":[286],"good":[288],"method.":[293],"All":[294],"experiments":[295],"prove":[296],"proposed":[299],"superior":[302],"state-of-the-art":[304],"PCReg":[305],"terms":[308],"accuracy":[310],"complexity.":[312]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-24T13:16:06.693445","created_date":"2025-10-10T00:00:00"}
