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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We solve the Plateau problem for marginally outer trapped surfaces in general Cauchy data sets. We employ the Perron method and tools from geometric measure theory to force and control a blow-up of Jang’s equation. Substantial new geometric insights regarding the lower order properties of marginally outer trapped surfaces are gained in the process. The techniques developed in this paper are flexible and can be adapted to other non-variational existence problems.

We obtain two-sided sub-Gaussian estimates of heat kernels for strongly local Dirichlet forms on intervals, equipped with self-similar measures generated by iterated function systems (IFS's) that do not satisfy the open set condition (OSC) and have overlaps. We first give a framework for heat kernel estimates on intervals, and then consider examples of self-similar measures to illustrate this phenomenon. These examples include the infinite Bernoulli convolution associated with the golden ratio, and a family of convolutions of Cantor-type measures. We make use of Strichartz second-order identities defined by auxiliary IFS's to compute measures of cells on different levels. These auxiliary IFS's do satisfy the OSC and are used to define new metrics. The walk dimensions obtained under these new metrics are strictly greater than 2 and are closely related to the spectral dimension of fractal Laplacians.

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