{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,6]],"date-time":"2026-01-06T05:24:15Z","timestamp":1767677055254,"version":"3.48.0"},"reference-count":47,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2026,1,4]],"date-time":"2026-01-04T00:00:00Z","timestamp":1767484800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62173220"],"award-info":[{"award-number":["62173220"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IJGI"],"abstract":"<jats:p>Accurate point cloud registration is a fundamental prerequisite for reality-based 3D reconstruction and large-scale spatial modeling. Despite significant international progress, reliable registration in architectural and urban scenes remains challenging due to geometric intricacies arising from repetitive and strongly symmetric structures and photometric variability caused by illumination inconsistencies. Conventional ICP-based and color-augmented methods often suffer from local convergence and color drift, limiting their robustness in large-scale real-world applications. To address these challenges, we propose Hybrid Adaptive Residual Optimization (HARO), a unified framework that organically integrates geometric cues with hue-robust color features. Specifically, RGB data are transformed into a decoupled HSV representation with histogram-matched hue correction applied in overlapping regions, enabling illumination-invariant color modeling. Furthermore, a novel adaptive residual kernel dynamically balances geometric and chromatic constraints, ensuring stable convergence even in structurally complex or partially overlapping scenes. Extensive experiments conducted on diverse real-world datasets, including Subway, Railway, urban, and Office environments, demonstrate that HARO consistently achieves sub-degree rotational accuracy (0.11\u00b0) and negligible translation errors relative to the scene scale. These results indicate that HARO provides an effective and generalizable solution for large-scale point cloud registration, successfully bridging geometric complexity and photometric variability in reality-based reconstruction tasks.<\/jats:p>","DOI":"10.3390\/ijgi15010022","type":"journal-article","created":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T10:03:48Z","timestamp":1767607428000},"page":"22","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Robust Geometry\u2013Hue Point Cloud Registration via Hybrid Adaptive Residual Optimization"],"prefix":"10.3390","volume":"15","author":[{"given":"Yangmin","family":"Xie","sequence":"first","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, China"},{"name":"Bionic Intelligent Robot Dreamworks for Specialpurpose, Shanghai University, Shanghai 200444, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-5000-1840","authenticated-orcid":false,"given":"Jinghan","family":"Zhang","sequence":"additional","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, China"},{"name":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China"},{"name":"School of Electrical Engineering, Shanghai Dianji University, Shanghai 201306, China"}]},{"given":"Rijian","family":"Xu","sequence":"additional","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, China"},{"name":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3966-0431","authenticated-orcid":false,"given":"Hang","family":"Shi","sequence":"additional","affiliation":[{"name":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China"},{"name":"Jiangxi Research Institute of Beihang University, Nanchang 330200, China"}]}],"member":"1968","published-online":{"date-parts":[[2026,1,4]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"347","DOI":"10.14358\/PERS.24-00116R3","article-title":"Texture-Semantic Point: Registration for Point Clouds of Porcelain Relics","volume":"91","author":"Ge","year":"2025","journal-title":"Photogramm. 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