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.

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Global geometrical optics method is a new semi-classical approach for the high frequency linear waves proposed by the author in [13]. In this paper, we rederive it in a more concise way. It is shown that the right candidate of solution ansatz for the high frequency wave equations is the extended WKB function, other than the WKB function used in the classical geometrical optics approximation. A new and main contribution of this paper is an interface analysis for the Helmholtz equation when the incident wave is of extended WKB-type. We derive asymptotic expressions for the reflected and/or transmitted propagating waves in the general case. These expressions are valid even when the incident rays include caustic points.

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