This is a continuation of the paper [15] on nonlinear boundary layers of the Boltzmann equation where the existence is established and shown to be strongly dependent on the Mach number <i>M</i> ^<i></i> of the Maxwellian state at far field. In this paper, when <i>M</i> ^<i></i>&lt;1, we will show that the linearized operator has the exponential decay in time property and therefore a bootstrapping argument yields nonlinear stability of the boundary layers.

We propose a framework for global registration of building scans. The first contribution of our work is to detect and use portals (e.g. doors and windows) to improve the local registration between two scans. Our second contribution is an optimization based on a linear integer programming formulation. We abstract each scan as a block and model the block registration as an optimization problem that aims at maximizing the overall matching score of the entire scene. We propose an efficient solution to this optimization problem by iteratively detecting and adding local constraints. We demonstrate the effectiveness of the proposed method on buildings of various styles and we show that our approach is superior to the current state of the art.

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