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.

In this paper, we construct a new suboptimal filter by deriving the Ito's stochastic differential equations of the estimation of higher order central moments satisfy and imposing some conditions to form a closed system. The essentially infinite-dimensional cubic sensor problem has been investigated in detail numerically to illustrate the reasonableness of the imposed conditions, and the numerical experiments support our discussion. A 2-dimensional polynomial filtering problem has also been experimented.

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The notion of mixed quermassintegrals in the classical Brunn-Minkowski theory is extended to that of Orlicz mixed quermassintegrals in the Orlicz Brunn-Minkowski theory. The analogs of the classical Cauchy- Kubota formula, the Minkowski isoperimetric inequality and the Brunn-Minkowski inequality are established for this new Orlicz mixed quermassintegrals.