{"id":"https://openalex.org/W4395683472","doi":"https://doi.org/10.3390/s24092768","title":"HALNet: Partial Point Cloud Registration Based on Hybrid Attention and Deep Local Features","display_name":"HALNet: Partial Point Cloud Registration Based on Hybrid Attention and Deep Local Features","publication_year":2024,"publication_date":"2024-04-26","ids":{"openalex":"https://openalex.org/W4395683472","doi":"https://doi.org/10.3390/s24092768","pmid":"https://pubmed.ncbi.nlm.nih.gov/38732874"},"language":"en","primary_location":{"id":"doi:10.3390/s24092768","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24092768","pdf_url":"https://www.mdpi.com/1424-8220/24/9/2768/pdf?version=1714126754","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/1424-8220/24/9/2768/pdf?version=1714126754","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102749184","display_name":"Deling Wang","orcid":"https://orcid.org/0009-0009-7032-2105"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Deling Wang","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109709835","display_name":"Huadan. Hao","orcid":null},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huadan Hao","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029741120","display_name":"J. X. Zhang","orcid":"https://orcid.org/0000-0002-5774-8154"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jinsong Zhang","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China"],"raw_orcid":"https://orcid.org/0000-0002-5774-8154","affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China","institution_ids":["https://openalex.org/I113940042"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5029741120"],"corresponding_institution_ids":["https://openalex.org/I113940042"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.2013,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.73033943,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"24","issue":"9","first_page":"2768","last_page":"2768"},"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":0.994700014591217,"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":0.9914000034332275,"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":0.8405342698097229},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7649233341217041},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.698155403137207},{"id":"https://openalex.org/keywords/convolution","display_name":"Convolution (computer science)","score":0.5688031911849976},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5658994913101196},{"id":"https://openalex.org/keywords/image-registration","display_name":"Image registration","score":0.4991593360900879},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.47174179553985596},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.44081127643585205},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.4190353751182556},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.34810304641723633},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.23540210723876953},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1668151617050171},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.14555054903030396},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10252246260643005},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.07638201117515564}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8405342698097229},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7649233341217041},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.698155403137207},{"id":"https://openalex.org/C45347329","wikidata":"https://www.wikidata.org/wiki/Q5166604","display_name":"Convolution (computer science)","level":3,"score":0.5688031911849976},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5658994913101196},{"id":"https://openalex.org/C166704113","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image registration","level":3,"score":0.4991593360900879},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.47174179553985596},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.44081127643585205},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.4190353751182556},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.34810304641723633},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.23540210723876953},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1668151617050171},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.14555054903030396},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10252246260643005},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.07638201117515564},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24092768","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24092768","pdf_url":"https://www.mdpi.com/1424-8220/24/9/2768/pdf?version=1714126754","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:38732874","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38732874","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:11086131","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11086131","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11086131/pdf/sensors-24-02768.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:df8a08d81923407982d50901215bd886","is_oa":true,"landing_page_url":"https://doaj.org/article/df8a08d81923407982d50901215bd886","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 24, Iss 9, p 2768 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24092768","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24092768","pdf_url":"https://www.mdpi.com/1424-8220/24/9/2768/pdf?version=1714126754","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/W4395683472.pdf","grobid_xml":"https://content.openalex.org/works/W4395683472.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W1514535095","https://openalex.org/W2099940712","https://openalex.org/W2560609797","https://openalex.org/W2566265240","https://openalex.org/W2742069755","https://openalex.org/W2883357174","https://openalex.org/W2884585870","https://openalex.org/W2894875292","https://openalex.org/W2937816158","https://openalex.org/W2944143243","https://openalex.org/W2944796900","https://openalex.org/W2955307761","https://openalex.org/W2962826786","https://openalex.org/W2962941647","https://openalex.org/W2963057320","https://openalex.org/W2963264709","https://openalex.org/W2964014140","https://openalex.org/W2980535048","https://openalex.org/W3013243617","https://openalex.org/W3034295752","https://openalex.org/W3035338950","https://openalex.org/W3096538374","https://openalex.org/W3097966505","https://openalex.org/W3102172316","https://openalex.org/W3104408604","https://openalex.org/W3108059345","https://openalex.org/W3111535274","https://openalex.org/W3120688681","https://openalex.org/W3125648170","https://openalex.org/W3153465022","https://openalex.org/W3177280664","https://openalex.org/W3193354106","https://openalex.org/W4205438261","https://openalex.org/W4205842536","https://openalex.org/W4214521144","https://openalex.org/W4214755140","https://openalex.org/W4223646432","https://openalex.org/W4296744026","https://openalex.org/W4387166622","https://openalex.org/W6640300118"],"related_works":["https://openalex.org/W3000097931","https://openalex.org/W2354322770","https://openalex.org/W4237547500","https://openalex.org/W1570848052","https://openalex.org/W2373192430","https://openalex.org/W4239268388","https://openalex.org/W4243305035","https://openalex.org/W1537496349","https://openalex.org/W2379407973","https://openalex.org/W2350267540"],"abstract_inverted_index":{"Point":[0],"cloud":[1,40,52],"registration":[2,27,35,44,53,142,155,195],"is":[3,13,46,56,77,92,114,130],"an":[4],"important":[5],"task":[6],"in":[7,16,37],"computer":[8],"vision":[9],"and":[10,21,72,104,112,163,171,187],"robotics":[11],"which":[12,151],"widely":[14],"used":[15,78,93,115],"3D":[17],"reconstruction,":[18],"target":[19],"recognition,":[20],"other":[22],"fields.":[23],"At":[24],"present,":[25],"many":[26],"methods":[28,139],"based":[29],"on":[30],"deep":[31],"learning":[32],"have":[33],"better":[34],"accuracy":[36,45],"complete":[38],"point":[39,51,86,102,124],"registration,":[41],"but":[42],"partial":[43,50],"poor.":[47],"Therefore,":[48],"a":[49,59],"network,":[54],"HALNet,":[55],"proposed.":[57],"Firstly,":[58],"feature":[60],"extraction":[61],"network":[62],"consisting":[63],"mainly":[64],"of":[65,83,99,110,121,165,177],"adaptive":[66],"graph":[67],"convolution":[68,73],"(AGConv),":[69],"two-dimensional":[70],"convolution,":[71],"block":[74],"attention":[75,107,185],"(CBAM)":[76],"to":[79,94,116,193],"learn":[80],"the":[81,84,89,96,100,105,118,122,127,134,153,158,161,175,178,183],"features":[82],"initial":[85],"cloud.":[87],"Then":[88],"overlapping":[90],"estimation":[91],"remove":[95],"non-overlapping":[97],"points":[98],"two":[101,123],"clouds,":[103],"hybrid":[106,184],"mechanism":[108,186],"composed":[109],"self-attention":[111],"cross-attention":[113],"fuse":[117],"geometric":[119],"information":[120],"clouds.":[125],"Finally,":[126],"rigid":[128],"transformation":[129],"obtained":[131],"by":[132,169],"using":[133],"fully":[135,188],"connected":[136,189],"layer.":[137],"Five":[138],"with":[140,149],"excellent":[141],"performance":[143,156],"were":[144],"selected":[145],"for":[146],"comparison.":[147],"Compared":[148],"SCANet,":[150],"has":[152],"best":[154],"among":[157],"five":[159],"methods,":[160],"RMSE(R)":[162],"MAE(R)":[164],"HALNet":[166],"are":[167,191],"reduced":[168],"10.67%":[170],"12.05%.":[172],"In":[173],"addition,":[174],"results":[176],"ablation":[179],"experiment":[180],"verify":[181],"that":[182],"layer":[190],"conducive":[192],"improving":[194],"performance.":[196]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}