{"id":"https://openalex.org/W4389388479","doi":"https://doi.org/10.3390/s23249651","title":"RRGA-Net: Robust Point Cloud Registration Based on Graph Convolutional Attention","display_name":"RRGA-Net: Robust Point Cloud Registration Based on Graph Convolutional Attention","publication_year":2023,"publication_date":"2023-12-06","ids":{"openalex":"https://openalex.org/W4389388479","doi":"https://doi.org/10.3390/s23249651","pmid":"https://pubmed.ncbi.nlm.nih.gov/38139497"},"language":"en","primary_location":{"id":"doi:10.3390/s23249651","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s23249651","pdf_url":"https://www.mdpi.com/1424-8220/23/24/9651/pdf?version=1702405240","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/1424-8220/23/24/9651/pdf?version=1702405240","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069871053","display_name":"Jian Qian","orcid":"https://orcid.org/0009-0007-2185-3968"},"institutions":[{"id":"https://openalex.org/I91935597","display_name":"University of South China","ror":"https://ror.org/03mqfn238","country_code":"CN","type":"education","lineage":["https://openalex.org/I91935597"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Qian","raw_affiliation_strings":["School of Mechanical Engineering, University of South China, Hengyang 421001, China"],"raw_orcid":"https://orcid.org/0009-0007-2185-3968","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of South China, Hengyang 421001, China","institution_ids":["https://openalex.org/I91935597"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034179808","display_name":"Dewen Tang","orcid":"https://orcid.org/0000-0001-5264-8974"},"institutions":[{"id":"https://openalex.org/I91935597","display_name":"University of South China","ror":"https://ror.org/03mqfn238","country_code":"CN","type":"education","lineage":["https://openalex.org/I91935597"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dewen Tang","raw_affiliation_strings":["School of Mechanical Engineering, University of South China, Hengyang 421001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of South China, Hengyang 421001, China","institution_ids":["https://openalex.org/I91935597"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5034179808"],"corresponding_institution_ids":["https://openalex.org/I91935597"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.6026,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.63323115,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":"23","issue":"24","first_page":"9651","last_page":"9651"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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":0.9991000294685364,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.8334684371948242},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7418789267539978},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.739713191986084},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6187918782234192},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5893591046333313},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5338956117630005},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.51877760887146},{"id":"https://openalex.org/keywords/attention-network","display_name":"Attention network","score":0.5159595608711243},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.5089435577392578},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4342736005783081},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4289623498916626},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3284968137741089},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.10288947820663452},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09532266855239868}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8334684371948242},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7418789267539978},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.739713191986084},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6187918782234192},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5893591046333313},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5338956117630005},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.51877760887146},{"id":"https://openalex.org/C2993807640","wikidata":"https://www.wikidata.org/wiki/Q103709453","display_name":"Attention network","level":2,"score":0.5159595608711243},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.5089435577392578},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4342736005783081},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4289623498916626},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3284968137741089},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.10288947820663452},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09532266855239868},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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":5,"locations":[{"id":"doi:10.3390/s23249651","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s23249651","pdf_url":"https://www.mdpi.com/1424-8220/23/24/9651/pdf?version=1702405240","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:38139497","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38139497","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:pubmedcentral.nih.gov:10747256","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10747256","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10747256/pdf/sensors-23-09651.pdf","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"},{"id":"pmh:oai:doaj.org/article:754f2993d56c4099a20d6f65ac5304e4","is_oa":true,"landing_page_url":"https://doaj.org/article/754f2993d56c4099a20d6f65ac5304e4","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 23, Iss 24, p 9651 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/24/9651/","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23249651","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","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23249651","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s23249651","pdf_url":"https://www.mdpi.com/1424-8220/23/24/9651/pdf?version=1702405240","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":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389388479.pdf","grobid_xml":"https://content.openalex.org/works/W4389388479.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1903029394","https://openalex.org/W1972485825","https://openalex.org/W2049981393","https://openalex.org/W2115579991","https://openalex.org/W2160821342","https://openalex.org/W2566265240","https://openalex.org/W2889895098","https://openalex.org/W2898528848","https://openalex.org/W2950642167","https://openalex.org/W2963264709","https://openalex.org/W2971088236","https://openalex.org/W2986382673","https://openalex.org/W3013243617","https://openalex.org/W3034675048","https://openalex.org/W3035338950","https://openalex.org/W3035472788","https://openalex.org/W3093449168","https://openalex.org/W3175295430","https://openalex.org/W3177280664","https://openalex.org/W3212992486","https://openalex.org/W4220881680","https://openalex.org/W4226373316","https://openalex.org/W4281642191","https://openalex.org/W4286377379","https://openalex.org/W4293523116","https://openalex.org/W4312497258","https://openalex.org/W4315778466","https://openalex.org/W4376166839","https://openalex.org/W4390873315","https://openalex.org/W4390873665","https://openalex.org/W6640300118","https://openalex.org/W6662860747","https://openalex.org/W6769275068","https://openalex.org/W6779835006","https://openalex.org/W6802758728"],"related_works":["https://openalex.org/W4244478748","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W4389340727","https://openalex.org/W4205786897","https://openalex.org/W3150465815","https://openalex.org/W2802581102","https://openalex.org/W1997222214","https://openalex.org/W2070395303"],"abstract_inverted_index":{"The":[0],"problem":[1],"of":[2,24,116,127],"registering":[3],"point":[4,66],"clouds":[5],"in":[6,13,34,50,65,113,143],"scenarios":[7],"with":[8],"low":[9],"overlap":[10],"is":[11,45,59,89],"explored":[12],"this":[14,39],"study.":[15],"Previous":[16],"methodologies":[17],"depended":[18],"on":[19],"having":[20],"a":[21,41,54,85,92,99],"sufficient":[22],"number":[23],"repeatable":[25],"keypoints":[26,69],"to":[27,47,61,77,105],"extract":[28],"correspondences,":[29],"making":[30],"them":[31],"less":[32],"effective":[33],"partially":[35],"overlapping":[36,114],"environments.":[37],"In":[38],"paper,":[40],"novel":[42],"learning":[43],"network":[44,97],"proposed":[46],"optimize":[48],"correspondences":[49],"sparse":[51],"keypoints.":[52],"Firstly,":[53],"multi-layer":[55,75],"channel":[56],"sampling":[57],"mechanism":[58],"suggested":[60],"enhance":[62],"the":[63,111,125],"information":[64],"clouds,":[67],"and":[68,72,98,109,137],"were":[70],"filtered":[71],"fused":[73],"at":[74],"resolutions":[76],"form":[78],"patches":[79],"through":[80],"feature":[81],"weight":[82],"filtering.":[83],"Moreover,":[84],"template":[86],"matching":[87],"module":[88,103],"devised,":[90],"comprising":[91],"self-attention":[93],"mapping":[94],"convolutional":[95],"neural":[96],"cross-attention":[100],"network.":[101],"This":[102],"aims":[104],"match":[106],"contextual":[107],"features":[108],"refine":[110],"correspondence":[112,120],"areas":[115],"patches,":[117],"ultimately":[118],"enhancing":[119],"accuracy.":[121],"Experimental":[122],"results":[123],"demonstrate":[124],"robustness":[126],"our":[128,140],"model":[129],"across":[130],"various":[131],"datasets,":[132],"including":[133],"ModelNet40,":[134],"3DMatch,":[135],"3DLoMatch,":[136],"KITTI.":[138],"Notably,":[139],"method":[141],"excels":[142],"low-overlap":[144],"scenarios,":[145],"showcasing":[146],"superior":[147],"performance.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}