{"id":"https://openalex.org/W4401107679","doi":"https://doi.org/10.3390/rs16152789","title":"Fast Robust Point Cloud Registration Based on Compatibility Graph and Accelerated Guided Sampling","display_name":"Fast Robust Point Cloud Registration Based on Compatibility Graph and Accelerated Guided Sampling","publication_year":2024,"publication_date":"2024-07-30","ids":{"openalex":"https://openalex.org/W4401107679","doi":"https://doi.org/10.3390/rs16152789"},"language":"en","primary_location":{"id":"doi:10.3390/rs16152789","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs16152789","pdf_url":null,"source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/rs16152789","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079938066","display_name":"Chengjun Wang","orcid":"https://orcid.org/0000-0002-8848-8156"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengjun Wang","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China","ZNDY of Ministerial Key Laboratory, Nanjing University of Science and Technology, Nanjing 210094, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China","institution_ids":["https://openalex.org/I36399199"]},{"raw_affiliation_string":"ZNDY of Ministerial Key Laboratory, Nanjing University of Science and Technology, Nanjing 210094, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100459151","display_name":"Zheng Zhen","orcid":"https://orcid.org/0000-0002-8902-9357"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Zheng","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China","ZNDY of Ministerial Key Laboratory, Nanjing University of Science and Technology, Nanjing 210094, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China","institution_ids":["https://openalex.org/I36399199"]},{"raw_affiliation_string":"ZNDY of Ministerial Key Laboratory, Nanjing University of Science and Technology, Nanjing 210094, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109657207","display_name":"Bingting Zha","orcid":null},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bingting Zha","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China","ZNDY of Ministerial Key Laboratory, Nanjing University of Science and Technology, Nanjing 210094, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China","institution_ids":["https://openalex.org/I36399199"]},{"raw_affiliation_string":"ZNDY of Ministerial Key Laboratory, Nanjing University of Science and Technology, Nanjing 210094, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100616470","display_name":"Haojie Li","orcid":"https://orcid.org/0000-0003-1070-5146"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haojie Li","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China","ZNDY of Ministerial Key Laboratory, Nanjing University of Science and Technology, Nanjing 210094, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China","institution_ids":["https://openalex.org/I36399199"]},{"raw_affiliation_string":"ZNDY of Ministerial Key Laboratory, Nanjing University of Science and Technology, Nanjing 210094, China","institution_ids":["https://openalex.org/I36399199"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5109657207"],"corresponding_institution_ids":["https://openalex.org/I36399199"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":3.0245,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.90713457,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"16","issue":"15","first_page":"2789","last_page":"2789"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9993000030517578,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9983000159263611,"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/point-cloud","display_name":"Point cloud","score":0.8338767290115356},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.7598584890365601},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7231101393699646},{"id":"https://openalex.org/keywords/point-set-registration","display_name":"Point set registration","score":0.4787556529045105},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47710639238357544},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4546918272972107},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4266120195388794},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4187623858451843},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3462539315223694},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3408414125442505},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.23797211050987244},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21686792373657227}],"concepts":[{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.8338767290115356},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.7598584890365601},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7231101393699646},{"id":"https://openalex.org/C200336642","wikidata":"https://www.wikidata.org/wiki/Q15058706","display_name":"Point set registration","level":3,"score":0.4787556529045105},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47710639238357544},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4546918272972107},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4266120195388794},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4187623858451843},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3462539315223694},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3408414125442505},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.23797211050987244},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21686792373657227},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/rs16152789","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs16152789","pdf_url":null,"source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:c7ca5142b4d44364815eb58885440595","is_oa":true,"landing_page_url":"https://doaj.org/article/c7ca5142b4d44364815eb58885440595","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":"Remote Sensing, Vol 16, Iss 15, p 2789 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/rs16152789","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs16152789","pdf_url":null,"source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4463491377","display_name":null,"funder_award_id":"52201399","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":70,"referenced_works":["https://openalex.org/W1167087490","https://openalex.org/W1735588541","https://openalex.org/W1972485825","https://openalex.org/W1988874269","https://openalex.org/W1993267444","https://openalex.org/W1999284314","https://openalex.org/W2020682184","https://openalex.org/W2046434485","https://openalex.org/W2049981393","https://openalex.org/W2085261163","https://openalex.org/W2130017587","https://openalex.org/W2130558599","https://openalex.org/W2150066425","https://openalex.org/W2160821342","https://openalex.org/W2171728525","https://openalex.org/W2294195182","https://openalex.org/W2344109021","https://openalex.org/W2502039689","https://openalex.org/W2519911873","https://openalex.org/W2556205602","https://openalex.org/W2566265240","https://openalex.org/W2769591697","https://openalex.org/W2777237375","https://openalex.org/W2793187686","https://openalex.org/W2889300857","https://openalex.org/W2901531818","https://openalex.org/W2910250450","https://openalex.org/W2962941647","https://openalex.org/W2963388209","https://openalex.org/W2964014140","https://openalex.org/W2967756832","https://openalex.org/W2981874330","https://openalex.org/W2981995220","https://openalex.org/W2998095032","https://openalex.org/W3047504807","https://openalex.org/W3056171435","https://openalex.org/W3092507414","https://openalex.org/W3104104643","https://openalex.org/W3111598592","https://openalex.org/W3118263378","https://openalex.org/W3135161907","https://openalex.org/W3167684723","https://openalex.org/W3176124701","https://openalex.org/W3177280664","https://openalex.org/W3203482640","https://openalex.org/W3205253566","https://openalex.org/W3212992486","https://openalex.org/W3217048438","https://openalex.org/W4226373316","https://openalex.org/W4283262838","https://openalex.org/W4312119994","https://openalex.org/W4319984648","https://openalex.org/W4367835377","https://openalex.org/W4383097419","https://openalex.org/W4386065759","https://openalex.org/W4386352264","https://openalex.org/W4386609471","https://openalex.org/W4389322684","https://openalex.org/W4389397955","https://openalex.org/W4390628596","https://openalex.org/W4391791398","https://openalex.org/W4391953921","https://openalex.org/W4400810737","https://openalex.org/W6640926891","https://openalex.org/W6739901393","https://openalex.org/W6791929127","https://openalex.org/W6802758728","https://openalex.org/W6838856350","https://openalex.org/W6839375290","https://openalex.org/W6859472151"],"related_works":["https://openalex.org/W3006513224","https://openalex.org/W4389574804","https://openalex.org/W2046456988","https://openalex.org/W2357409937","https://openalex.org/W2510582230","https://openalex.org/W2978674666","https://openalex.org/W2345979715","https://openalex.org/W4391129294","https://openalex.org/W2343679784","https://openalex.org/W4403874266"],"abstract_inverted_index":{"Point":[0],"cloud":[1,16,71,96],"registration":[2,17,72,97,141,205,212,251],"is":[3,128,153],"a":[4,91,101,110,115,201,235,242],"crucial":[5],"technique":[6],"in":[7,44],"photogrammetry,":[8],"remote":[9],"sensing,":[10],"etc.":[11],"A":[12],"generalized":[13],"3D":[14,33,45],"point":[15,30,35,47,70,95],"framework":[18],"has":[19],"been":[20],"developed":[21],"to":[22,41,61,130,165,210,222],"estimate":[23],"the":[24,42,51,132,137,140,162,167,176,250],"optimal":[25,180],"rigid":[26],"transformation":[27],"between":[28,204],"two":[29],"clouds":[31],"using":[32],"key":[34,46],"correspondences.":[36],"However,":[37],"challenges":[38],"arise":[39],"due":[40],"uncertainty":[43],"detection":[48],"techniques":[49],"and":[50,84,93,104,124,175,189,207,217,226,241],"similarity":[52],"of":[53,134,139,178,230,239,246],"local":[54],"surface":[55],"features.":[56],"These":[57],"factors":[58],"often":[59],"lead":[60],"feature":[62],"descriptors":[63],"establishing":[64],"correspondences":[65,225],"containing":[66],"significant":[67,202],"outliers.":[68],"Current":[69],"algorithms":[73,213],"are":[74,183],"typically":[75],"hindered":[76],"by":[77],"these":[78],"outliers,":[79],"affecting":[80],"both":[81,187],"their":[82],"efficiency":[83,174,208],"accuracy.":[85],"In":[86],"this":[87],"paper,":[88],"we":[89],"propose":[90],"fast":[92],"robust":[94],"method":[98,119],"based":[99,149],"on":[100,136,150,186],"compatibility":[102],"graph":[103,112],"accelerated":[105,145],"guided":[106,146],"sampling.":[107],"By":[108],"constructing":[109],"compatible":[111,121,125],"with":[113,220],"correspondences,":[114],"minimum":[116,236,243],"subset":[117],"sampling":[118,123,127,147,168],"combining":[120],"edge":[122],"vertex":[126],"proposed":[129,198],"reduce":[131],"influence":[133],"outliers":[135],"estimation":[138],"parameters.":[142,181],"Additionally,":[143],"an":[144,227],"strategy":[148],"preference":[151],"scores":[152],"presented,":[154],"which":[155],"effectively":[156],"utilizes":[157],"model":[158],"parameters":[159],"generated":[160],"during":[161],"iterative":[163],"process":[164,252],"guide":[166],"toward":[169],"inliers,":[170],"thereby":[171],"enhancing":[172],"computational":[173],"probability":[177],"estimating":[179],"Experiments":[182],"carried":[184],"out":[185],"synthetic":[188],"real-world":[190],"data.":[191],"The":[192],"experimental":[193],"results":[194],"demonstrate":[195],"that":[196],"our":[197,232],"algorithm":[199,233],"achieves":[200,234],"balance":[203],"accuracy":[206],"compared":[209],"state-of-the-art":[211],"such":[214],"as":[215],"RANSIC":[216],"GROR.":[218],"Even":[219],"up":[221],"2000":[223],"initial":[224],"outlier":[228],"ratio":[229],"99%,":[231],"rotation":[237],"error":[238,245],"0.737\u00b0":[240],"translation":[244],"0.0201":[247],"m,":[248],"completing":[249],"within":[253],"1":[254],"s.":[255]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}