Traditional point cloud registration methods require large overlap between scans, which imposes strict constraints on data acquisition. To facilitate registration, users have to carefully position scanners to ensure sufficient overlap. In this work, we propose to use high-level structural information (i.e., plane/line features and their inter-relationship) for registration, which is capable of registering point clouds with small overlap, allowing more freedom in data acquisition. We design a novel plane/linebased descriptor dedicated to establishing structure level correspondences between point clouds. Based on this descriptor, we propose a simple but effective registration algorithm. We also provide a dataset of real-world scenes containing a larger number of scans with a wide range of overlap. Experiments and comparisons with state-of-the-art methods on various datasets reveal that our method is superior to existing techniques. Though the proposed algorithm outperforms state-of-the-art methods on the most challenging dataset, the point cloud registration problem is still far from being solved, leaving significant room for improvement and future work.

We study singular Hermitian metrics on vector bundles. There are two main results in this paper. The first one is on the coherence of the higher rank analogue of multiplier ideals for singular Hermitian metrics defined by global sections. As an application, we show the coherence of the multiplier ideal of some positively curved singular Hermitian metrics whose standard approximations are not Nakano semipositive. The aim of the second main result is to determine all negatively curved singular Hermitian metrics on certain type of vector bundles, for example, certain rank 2 bundles on elliptic curves.

The first author has associated in a natural way a profinite group to each irreducible subshift. The group in question was initially obtained as a maximal subgroup of a free profinite semigroup. In the case of minimal subshifts, the same group is shown in the present paper to also arise from geometric considerations involving the Rauzy graphs of the subshift. Indeed, the group is shown to be isomorphic to the inverse limit of the profinite completions of the fundamental groups of the Rauzy graphs of the subshift. A further result involving geometric arguments on Rauzy graphs is a criterion for freeness of the profinite group of a minimal subshift based on the Return Theorem of Berthé et al.

We derive generalizations of McShane’s identity for higher ranked surface group representations by studying a family of mapping class group invariant functions introduced by Goncharov and Shen which generalize the notion of horocycle lengths. In particular, we obtain McShane-type identities for finite-area cusped convex real projective surfaces by generalizing the Birman–Series geodesic scarcity theorem. More generally, we establish McShane-type identities for positive surface group representations with loxodromic boundary monodromy, as well as McShane-type inequalities for general rank positive representations with unipotent boundary monodromy. Our identities are systematically expressed in terms of projective invariants, and we study these invariants: we establish boundedness and Fuchsian rigidity results for triple and cross ratios. We apply our identities to derive the simple spectral discreteness of unipotent-bordered positive representations, collar lemmas, and generalizations of the Thurston metric.

We prove a sharp inequality for hypersurfaces in the ndimensional Anti-deSitter-Schwarzschild manifold for general $n \ge  3$. This inequality generalizes the classical Minkowski inequality [19] for surfaces in the three dimensional Euclidean space. The proof relies on a new monotonicity formula for inverse mean curvature flow, and uses a geometric inequality established in [4].