@article{yu2024riga,
  title={Riga: Rotation-invariant and globally-aware descriptors for point cloud registration},
  author={Yu, Hao and Hou, Ji and Qin, Zheng and Saleh, Mahdi and Shugurov, Ivan and Wang, Kai and Busam, Benjamin and Ilic, Slobodan},
  journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
  year={2024},
  publisher={IEEE}
}