{"id":"W3159907955","doi":"10.1109/crv52889.2021.00014","title":"Lidar Scan Registration Robust to Extreme Motions","year":2021,"lang":"en","type":"preprint","venue":"","topic":"Robotics and Sensor-Based Localization","field":"Engineering","cited_by":3,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université Laval","funders":"Natural Sciences and Engineering Research Council of Canada","keywords":"Iterative closest point; Robustness (evolution); Point cloud; Computer science; Computer vision; Odometry; Lidar; Artificial intelligence; Algorithm; Translation (biology); Robot; Mobile robot; Remote sensing; Geography","routes":{"ca_aff":true,"ca_fund":true,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.00007137407,0.0001933131,0.0001848175,0.00011941,0.00004792792,0.0002194678,0.0001212859,0.0002154575,0.0002878836],"category_scores_gemma":[0.00003594624,0.0002196905,0.00008132314,0.0001704637,0.000008557275,0.00004827854,0.00007155362,0.0002354966,0.00003661436],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001406098,"about_ca_system_score_gemma":0.00005759551,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0001387141,"about_ca_topic_score_gemma":0.0005608917,"domain_scores_codex":[0.9990706,0.00001993258,0.0002793474,0.0002817863,0.0001792708,0.0001690769],"domain_scores_gemma":[0.9992514,0.000009667337,0.00002788425,0.0004713543,0.0001270785,0.0001125615],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[4.341023e-7,0.00001433817,0.00004679519,0.0000870634,0.00002253767,0.000005431983,0.00008847838,0.9937832,0.00103297,0.001111471,0.003021144,0.0007861785],"study_design_scores_gemma":[0.00007557228,0.00001186212,0.001297142,0.0001585184,0.00003169285,0.000002290677,0.0001187238,0.9943487,0.002077722,0.0001521457,0.001353961,0.0003716463],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.01847378,0.00009428429,0.9553976,0.0003985183,0.0008480531,0.0002414857,0.00001283337,0.0004187644,0.02411466],"genre_scores_gemma":[0.946771,0.0001086974,0.04965332,0.0001150111,0.0002808325,0.00003138332,0.0006762789,0.00006735825,0.002296164],"genre_candidate":"methods","genre_consensus":null,"teacher_disagreement_score":0.9282972,"threshold_uncertainty_score":0.8958717,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.04903984220823086,"score_gpt":0.2251147362953851,"score_spread":0.1760748940871543,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}