Point Cloud Registration Based on Multiparameter Functional

The registration of point clouds in a three-dimensional space is an important task in many areas of computer vision, including robotics and autonomous driving. The purpose of registration is to find a rigid geometric transformation to align two point clouds. The registration problem can be affected by noise and partiality (two point clouds only have a partial overlap). The Iterative Closed Point (ICP) algorithm is a common method for solving the registration problem. Recently, artificial neural networks have begun to be used in the registration of point clouds. The drawback of ICP and other registration algorithms is the possible convergence to a local minimum. Thus, an important characteristic of a registration algorithm is the ability to avoid local minima. In this paper, we propose an ICP-type registration algorithm (λ-ICP) that uses a multiparameter functional (λ-functional). The proposed λ-ICP algorithm generalizes the NICP algorithm (normal ICP). The application of the λ-functional requires a consistent choice of the eigenvectors of the covariance matrix of two point clouds. The paper also proposes an algorithm for choosing the directions of eigenvectors. The performance of the proposed λ-ICP algorithm is compared with that of a standard point-to-point ICP and neural network Deep Closest Points (DCP).

On toric geometry and K-stability of Fano varieties

We present some applications of the deformation theory of toric Fano varieties to K-(semi/poly)stability of Fano varieties. First, we present two examples of K-polystable toric Fano 3 3 -fold with obstructed deformations. In one case, the K-moduli spaces and stacks are reducible near the closed point associated to the toric Fano 3 3 -fold, while in the other they are non-reduced near the closed point associated to the toric Fano 3 3 -fold. Second, we study K-stability of the general members of two deformation families of smooth Fano 3 3 -folds by building degenerations to K-polystable toric Fano 3 3 -folds.

On the projectivity of proper normal curves over valuation domains

A theorem of Lichtenbaum states, that every proper, regular curve [Formula: see text] over a discrete valuation domain [Formula: see text] is projective. This theorem is generalized to the case of an arbitrary valuation domain [Formula: see text] using the following notion of regularity for non-noetherian rings introduced by Bertin: the local ring [Formula: see text] of a point [Formula: see text] is called regular, if every finitely generated ideal [Formula: see text] has finite projective dimension. The generalization is a particular case of a projectivity criterion for proper, normal [Formula: see text]-curves: such a curve [Formula: see text] is projective if for every irreducible component [Formula: see text] of its closed fiber [Formula: see text] there exists a closed point [Formula: see text] of the generic fiber of [Formula: see text] such that the Zariski closure [Formula: see text] meets [Formula: see text] and meets [Formula: see text] in regular points only.

The maximal dimension of formal fibers of local rings of an algebraic scheme of finite type

For a scheme [Formula: see text] of finite type over a Noetherian local ring [Formula: see text] with a closed point [Formula: see text] of the special fiber, we show that the maximal dimension of the formal fibers of the local algebra [Formula: see text] equals to [Formula: see text] provided that either [Formula: see text] is complete of dimension one or the dimensions of the formal fibers of [Formula: see text] are less than [Formula: see text]. This extends Matsumura’s theorem for algebraic varieties.

The existence of Zariski dense orbits for polynomial endomorphisms of the affine plane

In this paper we prove the following theorem. Let $f$ be a dominant polynomial endomorphism of the affine plane defined over an algebraically closed field of characteristic $0$. If there is no nonconstant invariant rational function under $f$, then there exists a closed point in the plane whose orbit under $f$ is Zariski dense. This result gives us a positive answer to a conjecture proposed by Medvedev and Scanlon, by Amerik, Bogomolov and Rovinsky, and by Zhang for polynomial endomorphisms of the affine plane.

Second flip in the Hassett–Keel program: a local description

This is the first of three papers in which we give a moduli interpretation of the second flip in the log minimal model program for $\overline{M}_{g}$, replacing the locus of curves with a genus $2$ Weierstrass tail by a locus of curves with a ramphoid cusp. In this paper, for $\unicode[STIX]{x1D6FC}\in (2/3-\unicode[STIX]{x1D716},2/3+\unicode[STIX]{x1D716})$, we introduce new $\unicode[STIX]{x1D6FC}$-stability conditions for curves and prove that they are deformation open. This yields algebraic stacks $\overline{{\mathcal{M}}}_{g}(\unicode[STIX]{x1D6FC})$ related by open immersions $\overline{{\mathcal{M}}}_{g}(2/3+\unicode[STIX]{x1D716}){\hookrightarrow}\overline{{\mathcal{M}}}_{g}(2/3){\hookleftarrow}\overline{{\mathcal{M}}}_{g}(2/3-\unicode[STIX]{x1D716})$. We prove that around a curve $C$ corresponding to a closed point in $\overline{{\mathcal{M}}}_{g}(2/3)$, these open immersions are locally modeled by variation of geometric invariant theory for the action of $\text{Aut}(C)$ on the first-order deformation space of $C$.