The computation of a rigid body transformation which optimally aligns a set of measurement points with a surface and related registration problems are studied from the viewpoint of geometry and optimization.We provide a convergence analysis for widely used registration algorithms such as ICP, using either closest points (Besl and McKay [2]) or tangent planes at closest points (Chen and Medioni [4]), and for a recently developed approach based on quadratic approximants of the squared distance function [24]. ICP based on closest points exhibits local linear convergence only. Its counterpart which minimizes squared distances to the tangent planes at closest points is a Gauss-Newton iteration; it achieves local quadratic convergence for a zero residual problem and - if enhanced by regularization and step size control - comes close to quadratic convergence in many realistic scenarios. Quadratically convergent algorithms are based on the approach in [24]. The theoretical results are supported by a number of experiments; there, we also compare the algorithms with respect to global convergence behavior, stability and running time.

We derive a lower bound on the ground state energy of the Hubbard model for given value of the total spin. In combination with the upper bound derived previously by Giuliani, our result proves that in the low density limit, the leading order correction compared to the ground state energy of a non-interacting lattice Fermi gas is given by $8\pi a \rho_u \rho_d$, where $\rho_{u(d)}$ denotes the density of the spin-up (down) particles, and $a$ is the scattering length of the contact interaction potential. This result extends previous work on the corresponding continuum model to the lattice case.

We show that the Lieb-Liniger model for one-dimensional bosons with repulsive $\delta$-function interaction can be rigorously derived via a scaling limit from a dilute three-dimensional Bose gas with arbitrary repulsive interaction potential of finite scattering length. For this purpose, we prove bounds on both the eigenvalues and corresponding eigenfunctions of three-dimensional bosons in strongly elongated traps and relate them to the corresponding quantities in the Lieb-Liniger model. In particular, if both the scattering length $a$ and the radius $r$ of the cylindrical trap go to zero, the Lieb-Liniger model with coupling constant $g \sim a/r^2$ is derived. Our bounds are uniform in $g$ in the whole parameter range $0\leq g\leq \infty$, and apply to the Hamiltonian for three-dimensional bosons in a spectral window of size $\sim r^{-2}$ above the ground state energy.

The universality for the eigenvalue spacing statistics of generalized Wigner matrices was established in our previous work \cite{EYY} under certain conditions on the probability distributions of the matrix elements. A major class of probability measures excluded in \cite{EYY} are the Bernoulli measures. In this paper, we extend the universality result of \cite{EYY} to include the Bernoulli measures so that the only restrictions on the probability distributions of the matrix elements are the subexponential decay and the normalization condition that the variances in each row sum up to one. The new ingredient is a strong local semicircle law which improves the error estimate on the Stieltjes transform of the empirical measure of the eigenvalues from the order $(N \eta)^{-1/2}$ to $(N \eta)^{-1}$. Here $\eta$ is the imaginary part of the spectral parameter in the definition of the Stieltjes transform and $N$ is the size of the matrix.

We present a generalization of the method of the local relaxation flow to establish the universality of local spectral statistics of a broad class of large random matrices. We show that the local distribution of the eigenvalues coincides with the local statistics of the corresponding Gaussian ensemble provided the distribution of the individual matrix element is smooth and the eigenvalues ${x_j}_{j=1}^N$ are close to their classical location ${\gamma_j}_{j=1}^N$ determined by the limiting density of eigenvalues. Under the scaling where the typical distance between neighboring eigenvalues is of order 1/N, the necessary apriori estimate on the location of eigenvalues requires only to know that $\E |x_j - \gamma_j |^2 \le N^{-1-\e}$ on average. This information can be obtained by well established methods for various matrix ensembles. We demonstrate the method by proving local spectral universality for Wishart matrices.