{"id":"https://openalex.org/W7164889451","doi":"https://doi.org/10.48550/arxiv.2606.16672","title":"Sinkhorn-CPD: Robust point cloud registration via unbalanced entropic optimal transport","display_name":"Sinkhorn-CPD: Robust point cloud registration via unbalanced entropic optimal transport","publication_year":2026,"publication_date":"2026-06-15","ids":{"openalex":"https://openalex.org/W7164889451","doi":"https://doi.org/10.48550/arxiv.2606.16672"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.16672","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.16672","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.16672","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138695830","display_name":"Jin Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Jin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138734256","display_name":"Mingyang Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Mingyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138698295","display_name":"Bing Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Bing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5084895043","display_name":"X. Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Xin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.7602999806404114,"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":0.7602999806404114,"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":0.10209999978542328,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.013899999670684338,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/outlier","display_name":"Outlier","score":0.7896000146865845},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6122999787330627},{"id":"https://openalex.org/keywords/simulated-annealing","display_name":"Simulated annealing","score":0.45739999413490295},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4449000060558319},{"id":"https://openalex.org/keywords/variance","display_name":"Variance (accounting)","score":0.4341999888420105},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.421999990940094},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.38769999146461487},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.37290000915527344}],"concepts":[{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.7896000146865845},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6122999787330627},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5450999736785889},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5347999930381775},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5020999908447266},{"id":"https://openalex.org/C126980161","wikidata":"https://www.wikidata.org/wiki/Q863783","display_name":"Simulated annealing","level":2,"score":0.45739999413490295},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4449000060558319},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.4341999888420105},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.421999990940094},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.38769999146461487},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.37290000915527344},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3702000081539154},{"id":"https://openalex.org/C2776135515","wikidata":"https://www.wikidata.org/wiki/Q17143721","display_name":"Regularization (linguistics)","level":2,"score":0.36010000109672546},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.35100001096725464},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.35040000081062317},{"id":"https://openalex.org/C165216359","wikidata":"https://www.wikidata.org/wiki/Q670653","display_name":"Marginal distribution","level":3,"score":0.33500000834465027},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.33009999990463257},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.29280000925064087},{"id":"https://openalex.org/C68387754","wikidata":"https://www.wikidata.org/wiki/Q7271585","display_name":"Schedule","level":2,"score":0.28529998660087585},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2782999873161316},{"id":"https://openalex.org/C3020402766","wikidata":"https://www.wikidata.org/wiki/Q104376712","display_name":"Prior information","level":2,"score":0.27070000767707825},{"id":"https://openalex.org/C113336015","wikidata":"https://www.wikidata.org/wiki/Q574010","display_name":"Complete information","level":2,"score":0.2700999975204468},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.26249998807907104}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.16672","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.16672","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.16672","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.16672","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Coherent":[0],"Point":[1],"Drift":[2],"(CPD)":[3],"is":[4,92],"widely":[5],"used":[6],"for":[7],"rigid":[8],"point":[9],"cloud":[10],"registration":[11,40],"because":[12],"of":[13,118,129],"its":[14],"soft":[15],"correspondences":[16,144],"and":[17,45,115,153,167],"closed-form":[18,113],"parameter":[19],"updates.":[20],"However,":[21],"CPD's":[22,72],"target-side":[23,73],"marginal":[24,74],"constraint":[25,75],"forces":[26],"every":[27],"observation,":[28],"including":[29],"outliers,":[30],"to":[31,83,142,165],"receive":[32],"exactly":[33],"unit":[34],"probability":[35],"mass.":[36],"This":[37],"assumption":[38],"degrades":[39],"accuracy":[41],"under":[42],"heavy":[43],"outliers":[44,85,166],"partial":[46,168],"overlap.":[47,169],"Optimal":[48],"transport":[49,98],"(OT)":[50],"methods":[51],"can":[52,101],"handle":[53],"missing":[54],"mass":[55],"through":[56],"unbalanced":[57,95],"formulations,":[58],"but":[59],"require":[60],"hand-tuned":[61],"annealing":[62,138],"schedules.":[63],"In":[64,120],"this":[65],"paper,":[66],"we":[67],"propose":[68],"Sinkhorn-CPD,":[69],"which":[70,100,134],"replaces":[71],"with":[76,162],"dual":[77],"Kullback-Leibler":[78],"penalties,":[79],"allowing":[80],"the":[81,112,123,127,130],"algorithm":[82],"discard":[84],"on":[86,150],"both":[87],"sides.":[88],"The":[89],"resulting":[90],"formulation":[91],"a":[93],"fully":[94],"entropic":[96,131],"optimal":[97],"problem,":[99],"be":[102],"efficiently":[103],"solved":[104],"by":[105],"generalized":[106],"Sinkhorn":[107],"iterations.":[108],"Moreover,":[109],"Sinkhorn-CPD":[110,158],"preserves":[111],"Procrustes":[114],"variance":[116,124],"updates":[117],"CPD.":[119],"our":[121],"method,":[122],"sigma^2":[125],"plays":[126],"role":[128],"regularization":[132],"parameter,":[133],"induces":[135],"an":[136],"automatic":[137],"schedule":[139],"from":[140],"diffuse":[141],"sharp":[143],"without":[145],"manual":[146],"temperature":[147],"tuning.":[148],"Experiments":[149],"synthetic,":[151],"cross-category,":[152],"scan-to-CAD":[154],"benchmarks":[155],"show":[156],"that":[157],"achieves":[159],"state-of-the-art":[160],"accuracy,":[161],"strong":[163],"robustness":[164]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-17T00:00:00"}
