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 propose second order accurate discontinuous Galerkin (DG) schemes which satisfy a strict maximum principle for general nonlinear convection-diffusion equations on unstructured triangular meshes. Motivated by genuinely high order maximum-principle-satisfying DG schemes for hyperbolic conservation laws, we prove that under suitable time step restriction for forward Euler time stepping, for general nonlinear convection-diffusion equations, the same scaling limiter coupled with second order DG methods preserves the physical bounds indicated by the initial condition while maintaining uniform second order accuracy. Similar to the purely convection cases, the limiters are mass conservative and easy to implement. Strong stability preserving (SSP) high order time discretizations will keep the maximum principle. Following the idea in earlier work, we extend the schemes to two-dimensional convection-diffusion equations on triangular meshes. There are no geometric constraints on the mesh such as angle acuteness. Numerical results including incompressible Navier-Stokes equations are presented to validate and demonstrate the effectiveness of the numerical methods.

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Let$D$⊂$C$be a simply connected domain that contains 0 and does not contain any disk of radius larger than 1. For$R$>0, let$ω$_{$D$}($R$) denote the harmonic measure at 0 of the set {$z$:|$z$|≽$R$}⋔∂$D$. Then it is shown that$there exist$β>0$and C$>0$such that for each such D$,$ω$_{$D$}($R$)≤$Ce$^{−$βR$},$for every R$>0. Thus a natural question is: What is the supremum of all β′s , call it β_{0}, for which the above inequality holds for every such$D$? Another formulation of the problem involves hyperbolic metric instead of harmonic measure. Using this formulation a lower bound for β_{0}is found. Upper bounds for β_{0}can be obtained by constructing examples of domains$D$. It is shown that a certain domain whose boundary consists of an infinite number of vertical half-lines, i.e. a comb domain, gives a good upper bound. This bound disproves a conjecture of C. Bishop which asserted that the strips of width 2 are extremal domains. Harmonic measures on comb domains are also studied.