{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,26]],"date-time":"2026-06-26T10:46:27Z","timestamp":1782470787521,"version":"3.54.5"},"reference-count":59,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"10","license":[{"start":{"date-parts":[[2023,10,1]],"date-time":"2023-10-01T00:00:00Z","timestamp":1696118400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2023,10,1]],"date-time":"2023-10-01T00:00:00Z","timestamp":1696118400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,10,1]],"date-time":"2023-10-01T00:00:00Z","timestamp":1696118400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"Xiaomi Young Talents Program"},{"name":"Tongji-Qomolo Autonomous Driving Commercial Vehicle Joint Lab Project"},{"name":"Shanghai Municipal Science and Technology","award":["2018SHZDZX01"],"award-info":[{"award-number":["2018SHZDZX01"]}]},{"name":"ZJ Lab"},{"DOI":"10.13039\/100020441","name":"Shanghai Center for Brain Science and Brain-Inspired Technology","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100020441","id-type":"DOI","asserted-by":"publisher"}]},{"name":"National Key Research and Development Program of China","award":["2021YFB2501104"],"award-info":[{"award-number":["2021YFB2501104"]}]},{"name":"Shanghai Rising Star Program","award":["21QC1400900"],"award-info":[{"award-number":["21QC1400900"]}]},{"name":"Key Technologies Development and Application of Piloted Autonomous Driving Truck Project"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Pattern Anal. Mach. Intell."],"published-print":{"date-parts":[[2023,10]]},"DOI":"10.1109\/tpami.2023.3284896","type":"journal-article","created":{"date-parts":[[2023,6,12]],"date-time":"2023-06-12T18:08:20Z","timestamp":1686593300000},"page":"11884-11897","source":"Crossref","is-referenced-by-count":27,"title":["HRegNet: A Hierarchical Network for Efficient and Accurate Outdoor LiDAR Point Cloud Registration"],"prefix":"10.1109","volume":"45","author":[{"ORCID":"https:\/\/2.zoppoz.workers.dev:443\/https\/orcid.org\/0000-0002-4932-3850","authenticated-orcid":false,"given":"Fan","family":"Lu","sequence":"first","affiliation":[{"name":"School of Automotive Engineering and Department of Computer Science, Tongji University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/2.zoppoz.workers.dev:443\/https\/orcid.org\/0000-0002-7416-592X","authenticated-orcid":false,"given":"Guang","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Automotive Engineering and Department of Computer Science, Tongji University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/2.zoppoz.workers.dev:443\/https\/orcid.org\/0000-0002-6468-8233","authenticated-orcid":false,"given":"Yinlong","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC), University of Macau, Macao SAR, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lijun","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Automotive Engineering, Tongji University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/2.zoppoz.workers.dev:443\/https\/orcid.org\/0009-0000-0377-7120","authenticated-orcid":false,"given":"Sanqing","family":"Qu","sequence":"additional","affiliation":[{"name":"School of Automotive Engineering and Department of Computer Science, Tongji University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/2.zoppoz.workers.dev:443\/https\/orcid.org\/0000-0002-9576-9335","authenticated-orcid":false,"given":"Shu","family":"Liu","sequence":"additional","affiliation":[{"name":"ETH Zurich, Zürich, Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/2.zoppoz.workers.dev:443\/https\/orcid.org\/0009-0005-8784-6176","authenticated-orcid":false,"given":"Rongqi","family":"Gu","sequence":"additional","affiliation":[{"name":"Tongji-Westwell Autonomous Vehicle Joint Lab, Shanghai Westwell Technology Company, Ltd., Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/2.zoppoz.workers.dev:443\/https\/orcid.org\/0000-0003-0637-9317","authenticated-orcid":false,"given":"Changjun","family":"Jiang","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Tongji University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58586-0_23"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.01569"},{"key":"ref12","first-page":"733","article-title":"DeepGMR: Learning latent Gaussian mixture models for registration","author":"yuan","year":"2020","journal-title":"Proc Eur Conf Comput Vis"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00425"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01138"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1111\/cgf.12446"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00259"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.01560"},{"key":"ref53","first-page":"8024","article-title":"PyTorch: An imperative style, high-performance deep learning library","author":"paszke","year":"2019","journal-title":"Proc Adv Neural Inf Process Syst"},{"key":"ref52","article-title":"Open3D: A modern library for 3D data processing","author":"zhou","year":"2018"},{"key":"ref11","article-title":"PRNet: Self-supervised learning for partial-to-partial registration","author":"wang","year":"2019"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-46475-6_47"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00733"},{"key":"ref54","first-page":"1","article-title":"Adam: A method for stochastic optimization","author":"kingma","year":"2015","journal-title":"Proc 3rd Int Conf Learn Representations"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00183"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00722"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00639"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00045"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1007\/BF02289451"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1107\/S0567739476001873"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58604-1_17"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00010"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00594"},{"key":"ref47","first-page":"5099","article-title":"PointNet: Deep hierarchical feature learning on point sets in a metric space","author":"qi","year":"2017","journal-title":"Proc Adv Neural Inf Process Syst"},{"key":"ref42","first-page":"674","article-title":"An iterative image registration technique with an application to stereo vision","author":"lucas","year":"1981","journal-title":"Proc 7th Int Joint Conf Artif Intell"},{"key":"ref41","first-page":"652","article-title":"PointNet: Deep learning on point sets for 3D classification and segmentation","author":"qi","year":"2017","journal-title":"Proc IEEE Conf Comput Vis Pattern Recognit"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00319"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01184"},{"key":"ref49","first-page":"4805","article-title":"Hierarchical graph representation learning with differentiable pooling","author":"ying","year":"2018","journal-title":"Proc Adv Neural Inf Process Syst"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2020.3005434"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00362"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918784361"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/34.121791"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2015.2513405"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1145\/2897824.2925913"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00979"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-15558-1_26"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1007\/s00371-011-0610-y"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-015-0824-y"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/34.765655"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2016.2517636"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20204"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152473"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/DICTA.2007.4426794"},{"key":"ref2","first-page":"226","article-title":"Real-time point cloud alignment for vehicle localization in a high resolution 3D map","author":"nagy","year":"2018","journal-title":"Proc Eur Conf Comput Vis Workshops"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1561\/2300000035"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00138"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1006\/cviu.1999.0832"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"ref23","first-page":"1658","article-title":"Neighbourhood consensus networks","author":"rocco","year":"2018","journal-title":"Proc Adv Neural Inf Process Syst"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00655"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01164"},{"key":"ref20","first-page":"21297","article-title":"RSKDD-Net: Random sample-based keypoint detector and descriptor","author":"lu","year":"2020","journal-title":"Proc Adv Neural Inf Process Syst"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00905"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01267-0_37"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.01571"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.29"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1249285"}],"container-title":["IEEE Transactions on Pattern Analysis and Machine Intelligence"],"original-title":[],"link":[{"URL":"https:\/\/2.zoppoz.workers.dev:443\/http\/xplorestaging.ieee.org\/ielx7\/34\/10241246\/10148795.pdf?arnumber=10148795","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,6,7]],"date-time":"2024-06-07T17:30:53Z","timestamp":1717781453000},"score":1,"resource":{"primary":{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/ieeexplore.ieee.org\/document\/10148795\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,10]]},"references-count":59,"journal-issue":{"issue":"10"},"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.1109\/tpami.2023.3284896","relation":{},"ISSN":["0162-8828","2160-9292","1939-3539"],"issn-type":[{"value":"0162-8828","type":"print"},{"value":"2160-9292","type":"electronic"},{"value":"1939-3539","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,10]]}}}