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 study the action of the group of contact diffeomorphisms on CR deformations of compact three dimensional CR manifolds. Using anisotropic function spaces and an anisotropic structure on the space of contact diffeomorphisms, we establish the existence of local transverse slices to the action of the contact diffeomorphism group in the neighborhood of a fixed embeddable strongly pseudoconvex CR structure.

We shall be concerned with the indicator$p$of an analytic functional μ on a complex manifold$U$: $$p(\varphi ) = \overline {\mathop {\lim }\limits_{t \to + \infty } } \frac{l}{t}\log \left| {\mu (e^{t\varphi } )} \right|,$$ where ϕ is an arbitrary analytic function on$U$. More specifically, we shall consider the smallest upper semicontinuous majorant$p$^{$J$}of the restriction of$p$to a subspace £ of the analytic functions. An obvious problem is then to characterize the set of functions$p$^{$J$}which can occur as regularizations of indicators. In the case when$U$=$C$^{$n$}and £ is the space of all linear functions on$C$^{$n$}, this set can be described more easily as the set of functions(0.1) $$\mathop {\lim }\limits_{\theta \to \zeta } \overline {\mathop {\lim }\limits_{t \to + \infty } } \frac{l}{t}\log \left| {u(t\theta )} \right|$$ of$n$complex variables ζ∈$C$^{$n$}where$u$is an entire function of exponential type in$C$^{$n$}. We hall prove that a function in$C$^{$n$}is of the form (0.1) for some entire function$u$of exponential type if and only if it is plurisubharmonic and positively homogeneous of order one (Theorem 3.4). The proof is based on the characterization given by Fujita and Takeuchi of those open subsets of complex projective$n$-space which are Stein manifolds.

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