Publication Information

{'id': 'https://openalex.org/W2196111060', 'doi': 'https://doi.org/10.1109/mra.2015.2432331', 'title': 'Registration with the Point Cloud Library: A Modular Framework for Aligning in 3-D', 'display_name': 'Registration with the Point Cloud Library: A Modular Framework for Aligning in 3-D', 'publication_year': 2015, 'publication_date': '2015-09-17', 'ids': {'openalex': 'https://openalex.org/W2196111060', 'doi': 'https://doi.org/10.1109/mra.2015.2432331', 'mag': '2196111060'}, 'language': 'en', 'primary_location': {'is_oa': False, 'landing_page_url': 'https://doi.org/10.1109/mra.2015.2432331', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S132261465', 'display_name': 'IEEE Robotics & Automation Magazine', 'issn_l': '1070-9932', 'issn': ['1070-9932', '1558-223X'], 'is_oa': False, 'is_in_doaj': False, 'is_core': True, 'host_organization': 'https://openalex.org/P4310319808', 'host_organization_name': 'Institute of Electrical and Electronics Engineers', 'host_organization_lineage': ['https://openalex.org/P4310319808'], 'host_organization_lineage_names': ['Institute of Electrical and Electronics Engineers'], 'type': 'journal'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}, 'type': 'article', 'type_crossref': 'journal-article', 'indexed_in': ['crossref'], 'open_access': {'is_oa': True, 'oa_status': 'green', 'oa_url': 'https://infoscience.epfl.ch/record/216547/files/paper.pdf', 'any_repository_has_fulltext': True}, 'authorships': [{'author_position': 'first', 'author': {'id': 'https://openalex.org/A5003730523', 'display_name': 'Dirk Holz', 'orcid': 'https://orcid.org/0000-0002-9525-5430'}, 'institutions': [{'id': 'https://openalex.org/I135140700', 'display_name': 'University of Bonn', 'ror': 'https://ror.org/041nas322', 'country_code': 'DE', 'type': 'education', 'lineage': ['https://openalex.org/I135140700']}], 'countries': ['DE'], 'is_corresponding': False, 'raw_author_name': 'Dirk Holz', 'raw_affiliation_strings': ['University of Bonn, Bonn, Germany'], 'affiliations': [{'raw_affiliation_string': 'University of Bonn, Bonn, Germany', 'institution_ids': ['https://openalex.org/I135140700']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5113634574', 'display_name': 'Alexandru Eugen Ichim', 'orcid': None}, 'institutions': [{'id': 'https://openalex.org/I5124864', 'display_name': 'École Polytechnique Fédérale de Lausanne', 'ror': 'https://ror.org/02s376052', 'country_code': 'CH', 'type': 'education', 'lineage': ['https://openalex.org/I2799323385', 'https://openalex.org/I5124864']}], 'countries': ['CH'], 'is_corresponding': False, 'raw_author_name': 'Alexandru E. Ichim', 'raw_affiliation_strings': ['École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland'], 'affiliations': [{'raw_affiliation_string': 'École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland', 'institution_ids': ['https://openalex.org/I5124864']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5041092666', 'display_name': 'Federico Tombari', 'orcid': 'https://orcid.org/0000-0001-5598-5212'}, 'institutions': [{'id': 'https://openalex.org/I9360294', 'display_name': 'University of Bologna', 'ror': 'https://ror.org/01111rn36', 'country_code': 'IT', 'type': 'education', 'lineage': ['https://openalex.org/I9360294']}], 'countries': ['IT'], 'is_corresponding': False, 'raw_author_name': 'Federico Tombari', 'raw_affiliation_strings': ['University of Bologna, Bologna, Italy'], 'affiliations': [{'raw_affiliation_string': 'University of Bologna, Bologna, Italy', 'institution_ids': ['https://openalex.org/I9360294']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5112225953', 'display_name': 'Radu Bogdan Rusu', 'orcid': None}, 'institutions': [{'id': 'https://openalex.org/I4210142635', 'display_name': 'PATH To Reading', 'ror': 'https://ror.org/0482xmh13', 'country_code': 'US', 'type': 'other', 'lineage': ['https://openalex.org/I4210142635']}], 'countries': ['US'], 'is_corresponding': False, 'raw_author_name': 'Radu B. Rusu', 'raw_affiliation_strings': ['Open Perception Inc., California, United States'], 'affiliations': [{'raw_affiliation_string': 'Open Perception Inc., California, United States', 'institution_ids': ['https://openalex.org/I4210142635']}]}, {'author_position': 'last', 'author': {'id': 'https://openalex.org/A5027761977', 'display_name': 'Sven Behnke', 'orcid': 'https://orcid.org/0000-0002-5040-7525'}, 'institutions': [{'id': 'https://openalex.org/I135140700', 'display_name': 'University of Bonn', 'ror': 'https://ror.org/041nas322', 'country_code': 'DE', 'type': 'education', 'lineage': ['https://openalex.org/I135140700']}], 'countries': ['DE'], 'is_corresponding': False, 'raw_author_name': 'Sven Behnke', 'raw_affiliation_strings': ['University of Bonn, Bonn, Germany'], 'affiliations': [{'raw_affiliation_string': 'University of Bonn, Bonn, Germany', 'institution_ids': ['https://openalex.org/I135140700']}]}], 'institution_assertions': [], 'countries_distinct_count': 4, 'institutions_distinct_count': 4, 'corresponding_author_ids': [], 'corresponding_institution_ids': [], 'apc_list': None, 'apc_paid': None, 'fwci': 30.01, 'has_fulltext': True, 'fulltext_origin': 'pdf', 'cited_by_count': 278, 'citation_normalized_percentile': {'value': 0.936697, 'is_in_top_1_percent': False, 'is_in_top_10_percent': True}, 'cited_by_percentile_year': {'min': 99, 'max': 100}, 'biblio': {'volume': '22', 'issue': '4', 'first_page': '110', 'last_page': '124'}, 'is_retracted': False, 'is_paratext': False, 'primary_topic': {'id': 'https://openalex.org/T10191', 'display_name': 'Robotics and Sensor-Based Localization', 'score': 0.9999, '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': 0.9999, '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': 0.9996, '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/T11164', 'display_name': 'Remote Sensing and LiDAR Applications', 'score': 0.999, 'subfield': {'id': 'https://openalex.org/subfields/2305', 'display_name': 'Environmental Engineering'}, 'field': {'id': 'https://openalex.org/fields/23', 'display_name': 'Environmental Science'}, 'domain': {'id': 'https://openalex.org/domains/3', 'display_name': 'Physical Sciences'}}], 'keywords': [{'id': 'https://openalex.org/keywords/iterative-closest-point', 'display_name': 'Iterative closest point', 'score': 0.836161}, {'id': 'https://openalex.org/keywords/image-registration', 'display_name': 'Image registration', 'score': 0.54424083}, {'id': 'https://openalex.org/keywords/feature', 'display_name': 'Feature (linguistics)', 'score': 0.4855499}, {'id': 'https://openalex.org/keywords/rigid-transformation', 'display_name': 'Rigid transformation', 'score': 0.4681288}], 'concepts': [{'id': 'https://openalex.org/C131979681', 'wikidata': 'https://www.wikidata.org/wiki/Q1899648', 'display_name': 'Point cloud', 'level': 2, 'score': 0.92273176}, {'id': 'https://openalex.org/C195958017', 'wikidata': 'https://www.wikidata.org/wiki/Q1675268', 'display_name': 'Iterative closest point', 'level': 3, 'score': 0.836161}, {'id': 'https://openalex.org/C31972630', 'wikidata': 'https://www.wikidata.org/wiki/Q844240', 'display_name': 'Computer vision', 'level': 1, 'score': 0.6912564}, {'id': 'https://openalex.org/C41008148', 'wikidata': 'https://www.wikidata.org/wiki/Q21198', 'display_name': 'Computer science', 'level': 0, 'score': 0.6906184}, {'id': 'https://openalex.org/C154945302', 'wikidata': 'https://www.wikidata.org/wiki/Q11660', 'display_name': 'Artificial intelligence', 'level': 1, 'score': 0.6527902}, {'id': 'https://openalex.org/C166704113', 'wikidata': 'https://www.wikidata.org/wiki/Q861092', 'display_name': 'Image registration', 'level': 3, 'score': 0.54424083}, {'id': 'https://openalex.org/C43521106', 'wikidata': 'https://www.wikidata.org/wiki/Q2165493', 'display_name': 'Pipeline (software)', 'level': 2, 'score': 0.53640044}, {'id': 'https://openalex.org/C51399673', 'wikidata': 'https://www.wikidata.org/wiki/Q504027', 'display_name': 'Lidar', 'level': 2, 'score': 0.5322345}, {'id': 'https://openalex.org/C2776401178', 'wikidata': 'https://www.wikidata.org/wiki/Q12050496', 'display_name': 'Feature (linguistics)', 'level': 2, 'score': 0.4855499}, {'id': 'https://openalex.org/C126795593', 'wikidata': 'https://www.wikidata.org/wiki/Q7333813', 'display_name': 'Rigid transformation', 'level': 2, 'score': 0.4681288}, {'id': 'https://openalex.org/C101468663', 'wikidata': 'https://www.wikidata.org/wiki/Q1620158', 'display_name': 'Modular design', 'level': 2, 'score': 0.42635494}, {'id': 'https://openalex.org/C28719098', 'wikidata': 'https://www.wikidata.org/wiki/Q44946', 'display_name': 'Point (geometry)', 'level': 2, 'score': 0.41877583}, {'id': 'https://openalex.org/C121684516', 'wikidata': 'https://www.wikidata.org/wiki/Q7600677', 'display_name': 'Computer graphics (images)', 'level': 1, 'score': 0.3679973}, {'id': 'https://openalex.org/C62649853', 'wikidata': 'https://www.wikidata.org/wiki/Q199687', 'display_name': 'Remote sensing', 'level': 1, 'score': 0.20018744}, {'id': 'https://openalex.org/C115961682', 'wikidata': 'https://www.wikidata.org/wiki/Q860623', 'display_name': 'Image (mathematics)', 'level': 2, 'score': 0.17026106}, {'id': 'https://openalex.org/C205649164', 'wikidata': 'https://www.wikidata.org/wiki/Q1071', 'display_name': 'Geography', 'level': 0, 'score': 0.12975141}, {'id': 'https://openalex.org/C33923547', 'wikidata': 'https://www.wikidata.org/wiki/Q395', 'display_name': 'Mathematics', 'level': 0, 'score': 0.118646234}, {'id': 'https://openalex.org/C2524010', 'wikidata': 'https://www.wikidata.org/wiki/Q8087', 'display_name': 'Geometry', '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/C41895202', 'wikidata': 'https://www.wikidata.org/wiki/Q8162', 'display_name': 'Linguistics', 'level': 1, 'score': 0.0}, {'id': 'https://openalex.org/C138885662', 'wikidata': 'https://www.wikidata.org/wiki/Q5891', 'display_name': 'Philosophy', 'level': 0, 'score': 0.0}, {'id': 'https://openalex.org/C199360897', 'wikidata': 'https://www.wikidata.org/wiki/Q9143', 'display_name': 'Programming language', 'level': 1, 'score': 0.0}], 'mesh': [], 'locations_count': 2, 'locations': [{'is_oa': False, 'landing_page_url': 'https://doi.org/10.1109/mra.2015.2432331', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S132261465', 'display_name': 'IEEE Robotics & Automation Magazine', 'issn_l': '1070-9932', 'issn': ['1070-9932', '1558-223X'], 'is_oa': False, 'is_in_doaj': False, 'is_core': True, 'host_organization': 'https://openalex.org/P4310319808', 'host_organization_name': 'Institute of Electrical and Electronics Engineers', 'host_organization_lineage': ['https://openalex.org/P4310319808'], 'host_organization_lineage_names': ['Institute of Electrical and Electronics Engineers'], 'type': 'journal'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}, {'is_oa': True, 'landing_page_url': 'http://infoscience.epfl.ch/record/216547', 'pdf_url': 'https://infoscience.epfl.ch/record/216547/files/paper.pdf', 'source': {'id': 'https://openalex.org/S4306400487', 'display_name': 'Infoscience (Ecole Polytechnique Fédérale de Lausanne)', 'issn_l': None, 'issn': None, 'is_oa': True, 'is_in_doaj': False, 'is_core': False, 'host_organization': None, 'host_organization_name': None, 'host_organization_lineage': [], 'host_organization_lineage_names': [], 'type': 'repository'}, 'license': None, 'license_id': None, 'version': 'publishedVersion', 'is_accepted': True, 'is_published': True}], 'best_oa_location': {'is_oa': True, 'landing_page_url': 'http://infoscience.epfl.ch/record/216547', 'pdf_url': 'https://infoscience.epfl.ch/record/216547/files/paper.pdf', 'source': {'id': 'https://openalex.org/S4306400487', 'display_name': 'Infoscience (Ecole Polytechnique Fédérale de Lausanne)', 'issn_l': None, 'issn': None, 'is_oa': True, 'is_in_doaj': False, 'is_core': False, 'host_organization': None, 'host_organization_name': None, 'host_organization_lineage': [], 'host_organization_lineage_names': [], 'type': 'repository'}, 'license': None, 'license_id': None, 'version': 'publishedVersion', 'is_accepted': True, 'is_published': True}, 'sustainable_development_goals': [{'score': 0.41, 'display_name': 'Industry, innovation and infrastructure', 'id': 'https://metadata.un.org/sdg/9'}], 'grants': [], 'datasets': [], 'versions': [], 'referenced_works_count': 28, 'referenced_works': ['https://openalex.org/W1564871316', 'https://openalex.org/W1627400044', 'https://openalex.org/W194047500', 'https://openalex.org/W1964365496', 'https://openalex.org/W1972671602', 'https://openalex.org/W1987648924', 'https://openalex.org/W1988874269', 'https://openalex.org/W1989625560', 'https://openalex.org/W1993267444', 'https://openalex.org/W2004312117', 'https://openalex.org/W2016285927', 'https://openalex.org/W2049981393', 'https://openalex.org/W2063549868', 'https://openalex.org/W2067956279', 'https://openalex.org/W2085261163', 'https://openalex.org/W2099606917', 'https://openalex.org/W2103420503', 'https://openalex.org/W2103544971', 'https://openalex.org/W2111308925', 'https://openalex.org/W2119851068', 'https://openalex.org/W2133098875', 'https://openalex.org/W2141250683', 'https://openalex.org/W2160643963', 'https://openalex.org/W2160821342', 'https://openalex.org/W2165053603', 'https://openalex.org/W2170208355', 'https://openalex.org/W2407392498', 'https://openalex.org/W4249866455'], 'related_works': ['https://openalex.org/W4320058782', 'https://openalex.org/W4306760020', 'https://openalex.org/W4293094720', 'https://openalex.org/W4213431252', 'https://openalex.org/W3016861202', 'https://openalex.org/W2813834476', 'https://openalex.org/W2807666361', 'https://openalex.org/W2739701376', 'https://openalex.org/W2196111060', 'https://openalex.org/W2120071540'], 'abstract_inverted_index': {'Registration': [0], 'is': [1, 115], 'an': [2, 84], 'important': [3], 'step': [4], 'when': [5], 'processing': [6], 'three-dimensional': [7], '(3-D)': [8], 'point': [9, 31, 40, 52, 78, 123, 149, 168], 'clouds.': [10], 'Applications': [11], 'for': [12, 39, 47, 66, 97, 109], 'registration': [13, 87, 138], 'range': [14], 'from': [15, 161], 'object': [16], 'modeling': [17], 'and': [18, 23, 35, 95, 103, 135, 155, 165], 'tracking,': [19], 'to': [20], 'simultaneous': [21], 'localization': [22], 'mapping': [24], '(SLAM).': [25], 'This': [26, 81], 'article': [27, 82], 'presents': [28], 'the': [29, 36, 48, 74, 101, 106, 118, 136, 141], 'open-source': [30], 'cloud': [32, 41, 124], 'library': [33], '(PCL)': [34], 'tools': [37], 'available': [38], 'registration.': [42], 'The': [43], 'PCL': [44, 93], 'incorporates': [45], 'methods': [46, 65], 'initial': [49, 68], 'alignment': [50], 'of': [51, 57, 73, 91, 105, 113, 117, 131], 'clouds': [53, 150, 169], 'using': [54, 70], 'a': [55, 110, 172, 178], 'variety': [56], 'local': [58], 'shape': [59], 'feature': [60], 'descriptors,': [61], 'as': [62, 64], 'well': [63], 'refining': [67], 'alignments': [69], 'different': [71], 'variants': [72], 'well-known': [75], 'iterative': [76], 'closest': [77], '(ICP)': [79], 'algorithm.': [80], 'provides': [83], 'overview': [85], 'on': [86, 177], 'algorithms,': [88], 'usage': [89], 'examples': [90, 130, 144], 'their': [92, 98], 'implementations,': [94], 'tips': [96], 'application.': [99], 'Since': [100], 'choice': [102], 'parameterization': [104], 'right': [107], 'algorithm': [108], 'particular': [111], 'type': [112], 'data': [114, 132], 'one': [116], 'biggest': [119], 'problems': [120], 'in': [121, 140], '3-D': [122, 163, 175], 'registration,': [125], 'we': [126], 'present': [127], 'three': [128], 'complete': [129], '(and': [133], 'applications)': [134], 'respective': [137], 'pipeline': [139], 'PCL.': [142], 'These': [143], 'include': [145], 'dense': [146], 'red-green-blue-depth': [147], '(RGB-D)': [148], 'acquired': [151], 'by': [152, 171], 'consumer': [153], 'color': [154], 'depth': [156], 'cameras,': [157], 'high-resolution': [158], 'laser': [159], 'scans': [160], 'commercial': [162], 'scanners,': [164], 'low-resolution': [166], 'sparse': [167], 'captured': [170], 'custom': [173], 'lightweight': [174], 'scanner': [176], 'microaerial': [179], 'vehicle': [180], '(MAV).': [181]}, 'cited_by_api_url': 'https://api.openalex.org/works?filter=cites:W2196111060', 'counts_by_year': [{'year': 2024, 'cited_by_count': 17}, {'year': 2023, 'cited_by_count': 22}, {'year': 2022, 'cited_by_count': 24}, {'year': 2021, 'cited_by_count': 43}, {'year': 2020, 'cited_by_count': 42}, {'year': 2019, 'cited_by_count': 43}, {'year': 2018, 'cited_by_count': 42}, {'year': 2017, 'cited_by_count': 31}, {'year': 2016, 'cited_by_count': 11}], 'updated_date': '2024-12-27T09:52:21.276042', 'created_date': '2016-06-24'}