{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,4]],"date-time":"2026-04-04T05:02:28Z","timestamp":1775278948130,"version":"3.50.1"},"reference-count":108,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"5","license":[{"start":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T00:00:00Z","timestamp":1777593600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T00:00:00Z","timestamp":1777593600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T00:00:00Z","timestamp":1777593600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62576144"],"award-info":[{"award-number":["62576144"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Pattern Anal. Mach. Intell."],"published-print":{"date-parts":[[2026,5]]},"DOI":"10.1109\/tpami.2026.3652316","type":"journal-article","created":{"date-parts":[[2026,1,12]],"date-time":"2026-01-12T22:00:30Z","timestamp":1768255230000},"page":"5328-5345","source":"Crossref","is-referenced-by-count":0,"title":["OIF-PCR++: Point Cloud Registration via Progressive Distillation of Conditional Positional Encoding"],"prefix":"10.1109","volume":"48","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1832-1940","authenticated-orcid":false,"given":"Fan","family":"Yang","sequence":"first","affiliation":[{"name":"State Key Laboratory of Multispectral Information Intelligent Processing Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4642-5728","authenticated-orcid":false,"given":"Zhi","family":"Chen","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Multispectral Information Intelligent Processing Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nanjun","family":"Yuan","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Multispectral Information Intelligent Processing Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4537-3145","authenticated-orcid":false,"given":"Lin","family":"Guo","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Multispectral Information Intelligent Processing Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3284-864X","authenticated-orcid":false,"given":"Wenbing","family":"Tao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Multispectral Information Intelligent Processing Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1142\/S0218654305000797"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2020.3015992"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1561\/2300000035"},{"key":"ref4","first-page":"652","article-title":"PointNet: Deep learning on point sets for 3D classification and segmentation","volume-title":"Proc. IEEE Conf. Comput. Vis. Pattern Recognit.","author":"Qi","year":"2017"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1145\/3326362"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.01595"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.01158"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00905"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00028"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00425"},{"key":"ref11","first-page":"23872","article-title":"CoFiNet: Reliable coarse-to-fine correspondences for robust pointcloud registration","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","author":"Yu","year":"2021"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.01086"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.00656"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.48550\/ARXIV.1706.03762"},{"key":"ref15","article-title":"An image is worth 16 x 16 words: Transformers for image recognition at scale","volume-title":"Proc. Int. Conf. Learn. Representations","author":"Kolesnikov","year":"2021"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2023.127063"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00881"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.00547"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.00544"},{"key":"ref20","volume-title":"Introduction to Linear Algebra","author":"Strang","year":"2022"},{"key":"ref21","volume-title":"Advanced Calculus: A Differential Forms Approach","author":"Edwards","year":"2013"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.01560"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.01287"},{"key":"ref24","first-page":"6982","article-title":"One-inlier is first: Towards efficient position encoding for point cloud registration","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","author":"Yang","year":"2022"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2015.7298801"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2015.7299195"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912458814"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-015-0824-y"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/34.765655"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-24672-5_18"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1145\/1877808.1877821"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-013-0627-y"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1016\/S0262-8856(98)00074-2"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1016\/j.patrec.2007.02.009"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4650967"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152473"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-15558-1_26"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.29"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2010.5540108"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01228-1_37"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00029"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00569"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01267-0_37"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00639"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1145\/3503161.3548023"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2023.3349199"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/34.121791"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1016\/0262-8856(92)90066-C"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363961"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2010.46"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2010.223"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2013.184"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00733"},{"key":"ref54","first-page":"674","article-title":"An iterative image registration technique with an application to stereo vision","volume-title":"Proc. 7th Int. Joint Conf. Artif. Intell.","author":"Lucas","year":"1981"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00362"},{"key":"ref56","first-page":"8814","article-title":"PRNet: Self-supervised learning for partial-to-partial registration","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","author":"Wang","year":"2019"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01184"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1214\/aoms\/1177703591"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58558-7_43"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00878"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.00312"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00521"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.01698"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00127"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.01324"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.02050"},{"key":"ref67","first-page":"1243","article-title":"Convolutional sequence to sequence learning","volume-title":"Proc. Int. Conf. Mach. Learn.","author":"Gehring","year":"2017"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.18653\/v1\/n19-1423"},{"key":"ref69","article-title":"Improving language understanding by generative pre-training","author":"Radford","year":"2018","journal-title":"OpenAI Blog"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.18653\/v1\/P19-1285"},{"issue":"140","key":"ref71","first-page":"1","article-title":"Exploring the limits of transfer learning with a unified text-to-text transformer","volume":"21","author":"Raffel","year":"2020","journal-title":"J. Mach. Learn. Res."},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58452-8_13"},{"key":"ref73","first-page":"4055","article-title":"Image transformer","volume-title":"Proc. Int. Conf. Mach. Learn.","author":"Parmar","year":"2018"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.00986"},{"key":"ref75","first-page":"33330","article-title":"Point transformer V2: Grouped vector attention and partition-based pooling","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","author":"Wu","year":"2022"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.00463"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00651"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/5.58325"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00499"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.2140\/pjm.1967.21.343"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2023.3272557"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.1987.4767965"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00282"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.5555\/3045118.3045167"},{"key":"ref85","first-page":"1658","article-title":"Neighbourhood consensus networks","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","author":"Rocco","year":"2018"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00643"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2013.458"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2013.377"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907298"},{"key":"ref91","doi-asserted-by":"publisher","DOI":"10.1109\/3DV.2016.41"},{"key":"ref92","doi-asserted-by":"publisher","DOI":"10.1145\/3072959.3054739"},{"key":"ref93","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.705"},{"key":"ref94","doi-asserted-by":"publisher","DOI":"10.1145\/237170.237269"},{"key":"ref95","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907054"},{"key":"ref96","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00259"},{"key":"ref97","first-page":"8026","article-title":"PyTorch: An imperative style, high-performance deep learning library","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","author":"Paszke","year":"2019"},{"key":"ref98","article-title":"Adam: A method for stochastic optimization","author":"Kingma","year":"2014"},{"key":"ref99","doi-asserted-by":"publisher","DOI":"10.1145\/3503161.3548023"},{"key":"ref100","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"ref101","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.001"},{"key":"ref102","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-46484-8_30"},{"key":"ref103","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00022"},{"key":"ref104","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-46475-6_47"},{"key":"ref105","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385773"},{"key":"ref106","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979949"},{"key":"ref107","article-title":"Open3D: A modern library for 3D data processing","author":"Zhou","year":"2018"},{"key":"ref108","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2023.3244951"}],"container-title":["IEEE Transactions on Pattern Analysis and Machine Intelligence"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/34\/11474534\/11345137.pdf?arnumber=11345137","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,4]],"date-time":"2026-04-04T04:18:31Z","timestamp":1775276311000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11345137\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,5]]},"references-count":108,"journal-issue":{"issue":"5"},"URL":"https:\/\/doi.org\/10.1109\/tpami.2026.3652316","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":[[2026,5]]}}}