{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,4]],"date-time":"2025-09-04T14:12:29Z","timestamp":1756995149483,"version":"3.38.0"},"reference-count":37,"publisher":"SAGE Publications","issue":"9-10","license":[{"start":{"date-parts":[[2022,6,24]],"date-time":"2022-06-24T00:00:00Z","timestamp":1656028800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100001665","name":"Agence Nationale de la Recherche","doi-asserted-by":"publisher","award":["ANR-10-LABX-20","ANR-16-IDEX-0006"],"award-info":[{"award-number":["ANR-10-LABX-20","ANR-16-IDEX-0006"]}],"id":[{"id":"10.13039\/501100001665","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2022,8]]},"abstract":"<jats:p> This paper proposes MpIC, an on-manifold derivation of the probabilistic Iterative Correspondence (pIC) algorithm, which is a stochastic version of the original Iterative Closest Point. It is developed in the context of autonomous underwater karst exploration based on acoustic sonars. First, a derivation of pIC based on the Lie group structure of [Formula: see text] is developed. The closed-form expression of the covariance modeling the estimated rigid transformation is also provided. In a second part, its application to 3D scan matching between acoustic sonar measurements is proposed. It is a prolongation of previous work on elevation angle estimation from wide-beam acoustic sonar. While the pIC approach proposed is intended to be a key component in a Simultaneous Localization and Mapping framework, this paper focuses on assessing its viability on a unitary basis. As ground truth data in karst aquifer are difficult to obtain, quantitative experiments are carried out on a simulated karst environment and show improvement compared to previous state-of-the-art approach. The algorithm is also evaluated on a real underwater cave dataset demonstrating its practical applicability. <\/jats:p>","DOI":"10.1177\/02783649221101418","type":"journal-article","created":{"date-parts":[[2022,6,24]],"date-time":"2022-06-24T20:53:56Z","timestamp":1656104036000},"page":"875-902","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["On-manifold probabilistic Iterative Closest Point: Application to underwater karst exploration"],"prefix":"10.1177","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2834-1678","authenticated-orcid":false,"given":"Yohan","family":"Breux","sequence":"first","affiliation":[{"name":"LIRMM, Univ Montpellier, Montpellier, France"}]},{"given":"Andr\u00e9","family":"Mas","sequence":"additional","affiliation":[{"name":"IMAG, Univ Montpellier, Montpellier, France"}]},{"given":"Lionel","family":"Lapierre","sequence":"additional","affiliation":[{"name":"LIRMM, Univ Montpellier, Montpellier, France"}]}],"member":"179","published-online":{"date-parts":[[2022,6,24]]},"reference":[{"key":"bibr1-02783649221101418","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759602"},{"key":"bibr2-02783649221101418","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2298059"},{"key":"bibr3-02783649221101418","doi-asserted-by":"publisher","DOI":"10.1243\/0954406021524909"},{"key":"bibr4-02783649221101418","doi-asserted-by":"publisher","DOI":"10.1117\/12.57955"},{"volume-title":"A Tutorial on Se (3) Transformation Parameterizations and On-Manifold Optimization","year":"2010","author":"Blanco JL","key":"bibr5-02783649221101418"},{"key":"bibr6-02783649221101418","doi-asserted-by":"publisher","DOI":"10.3390\/s20144028"},{"key":"bibr7-02783649221101418","doi-asserted-by":"publisher","DOI":"10.1109\/IntelliSys.2017.8324256"},{"key":"bibr8-02783649221101418","doi-asserted-by":"publisher","DOI":"10.3390\/s120607855"},{"key":"bibr9-02783649221101418","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.613"},{"volume-title":"Testing Sparus Ii Auv, an Open Platform for Industrial, Scientific and Academic Applications. 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