In computer vision, pattern recognition, and robotics, point-set registration, also known as point-cloud registration or scan matching, is the process of finding a spatial transformation (e.g., scaling, rotation and translation) that aligns two point clouds. The purpose of finding such a transformation includes merging multiple data sets into a globally consistent model (or coordinate frame), and mapping a new measurement to a known data set to identify features or to estimate its pose. Raw 3D point cloud data are typically obtained from Lidars and RGB-D cameras. 3D point clouds can also be generated from computer vision algorithms such as triangulation, bundle adjustment, and more recently, monocular image depth estimation using deep learning. For 2D point set registration used in image processing and feature-based image registration, a point set may be 2D pixel coordinates obtained by feature extraction from an image, for example corner detection. Point cloud registration has extensive applications in autonomous driving, motion estimation and 3D reconstruction, object detection and pose estimation, robotic manipulation, simultaneous localization and mapping (SLAM), panorama stitching, virtual and augmented reality, and medical imaging. As a special case, registration of two point sets that only differ by a 3D rotation (i.e., there is no scaling and translation), is called the Wahba Problem and also related to the orthogonal procrustes problem. == Formulation == The problem may be summarized as follows: Let { M , S } {\displaystyle \lbrace {\mathcal {M}},{\mathcal {S}}\rbrace } be two finite size point sets in a finite-dimensional real vector space R d {\displaystyle \mathbb {R} ^{d}} , which contain M {\displaystyle M} and N {\displaystyle N} points respectively (e.g., d = 3 {\displaystyle d=3} recovers the typical case of when M {\displaystyle {\mathcal {M}}} and S {\displaystyle {\mathcal {S}}} are 3D point sets). The problem is to find a transformation to be applied to the moving "model" point set M {\displaystyle {\mathcal {M}}} such that the difference (typically defined in the sense of point-wise Euclidean distance) between M {\displaystyle {\mathcal {M}}} and the static "scene" set S {\displaystyle {\mathcal {S}}} is minimized. In other words, a mapping from R d {\displaystyle \mathbb {R} ^{d}} to R d {\displaystyle \mathbb {R} ^{d}} is desired which yields the best alignment between the transformed "model" set and the "scene" set. The mapping may consist of a rigid or non-rigid transformation. The transformation model may be written as T {\displaystyle T} , using which the transformed, registered model point set is: The output of a point set registration algorithm is therefore the optimal transformation T ⋆ {\displaystyle T^{\star }} such that M {\displaystyle {\mathcal {M}}} is best aligned to S {\displaystyle {\mathcal {S}}} , according to some defined notion of distance function dist ( ⋅ , ⋅ ) {\displaystyle \operatorname {dist} (\cdot ,\cdot )} : where T {\displaystyle {\mathcal {T}}} is used to denote the set of all possible transformations that the optimization tries to search for. The most popular choice of the distance function is to take the square of the Euclidean distance for every pair of points: where ‖ ⋅ ‖ 2 {\displaystyle \|\cdot \|_{2}} denotes the vector 2-norm, s m {\displaystyle s_{m}} is the corresponding point in set S {\displaystyle {\mathcal {S}}} that attains the shortest distance to a given point m {\displaystyle m} in set M {\displaystyle {\mathcal {M}}} after transformation. Minimizing such a function in rigid registration is equivalent to solving a least squares problem. == Types of algorithms == When the correspondences (i.e., s m ↔ m {\displaystyle s_{m}\leftrightarrow m} ) are given before the optimization, for example, using feature matching techniques, then the optimization only needs to estimate the transformation. This type of registration is called correspondence-based registration. On the other hand, if the correspondences are unknown, then the optimization is required to jointly find out the correspondences and transformation together. This type of registration is called simultaneous pose and correspondence registration. === Rigid registration === Given two point sets, rigid registration yields a rigid transformation which maps one point set to the other. A rigid transformation is defined as a transformation that does not change the distance between any two points. Typically such a transformation consists of translation and rotation. In rare cases, the point set may also be mirrored. In robotics and computer vision, rigid registration has the most applications. === Non-rigid registration === Given two point sets, non-rigid registration yields a non-rigid transformation which maps one point set to the other. Non-rigid transformations include affine transformations such as scaling and shear mapping. However, in the context of point set registration, non-rigid registration typically involves nonlinear transformation. If the eigenmodes of variation of the point set are known, the nonlinear transformation may be parametrized by the eigenvalues. A nonlinear transformation may also be parametrized as a thin plate spline. === Other types === Some approaches to point set registration use algorithms that solve the more general graph matching problem. However, the computational complexity of such methods tend to be high and they are limited to rigid registrations. In this article, we will only consider algorithms for rigid registration, where the transformation is assumed to contain 3D rotations and translations (possibly also including a uniform scaling). The PCL (Point Cloud Library) is an open-source framework for n-dimensional point cloud and 3D geometry processing. It includes several point registration algorithms. == Correspondence-based registration == Correspondence-based methods assume the putative correspondences m ↔ s m {\displaystyle m\leftrightarrow s_{m}} are given for every point m ∈ M {\displaystyle m\in {\mathcal {M}}} . Therefore, we arrive at a setting where both point sets M {\displaystyle {\mathcal {M}}} and S {\displaystyle {\mathcal {S}}} have N {\displaystyle N} points and the correspondences m i ↔ s i , i = 1 , … , N {\displaystyle m_{i}\leftrightarrow s_{i},i=1,\dots ,N} are given. === Outlier-free registration === In the simplest case, one can assume that all the correspondences are correct, meaning that the points m i , s i ∈ R 3 {\displaystyle m_{i},s_{i}\in \mathbb {R} ^{3}} are generated as follows:where l > 0 {\displaystyle l>0} is a uniform scaling factor (in many cases l = 1 {\displaystyle l=1} is assumed), R ∈ SO ( 3 ) {\displaystyle R\in {\text{SO}}(3)} is a proper 3D rotation matrix ( SO ( d ) {\displaystyle {\text{SO}}(d)} is the special orthogonal group of degree d {\displaystyle d} ), t ∈ R 3 {\displaystyle t\in \mathbb {R} ^{3}} is a 3D translation vector and ϵ i ∈ R 3 {\displaystyle \epsilon _{i}\in \mathbb {R} ^{3}} models the unknown additive noise (e.g., Gaussian noise). Specifically, if the noise ϵ i {\displaystyle \epsilon _{i}} is assumed to follow a zero-mean isotropic Gaussian distribution with standard deviation σ i {\displaystyle \sigma _{i}} , i.e., ϵ i ∼ N ( 0 , σ i 2 I 3 ) {\displaystyle \epsilon _{i}\sim {\mathcal {N}}(0,\sigma _{i}^{2}I_{3})} , then the following optimization can be shown to yield the maximum likelihood estimate for the unknown scale, rotation and translation:Note that when the scaling factor is 1 and the translation vector is zero, then the optimization recovers the formulation of the Wahba problem. Despite the non-convexity of the optimization (cb.2) due to non-convexity of the set SO ( 3 ) {\displaystyle {\text{SO}}(3)} , seminal work by Berthold K.P. Horn showed that (cb.2) actually admits a closed-form solution, by decoupling the estimation of scale, rotation and translation. Similar results were discovered by Arun et al. In addition, in order to find a unique transformation ( l , R , t ) {\displaystyle (l,R,t)} , at least N = 3 {\displaystyle N=3} non-collinear points in each point set are required. More recently, Briales and Gonzalez-Jimenez have developed a semidefinite relaxation using Lagrangian duality, for the case where the model set M {\displaystyle {\mathcal {M}}} contains different 3D primitives such as points, lines and planes (which is the case when the model M {\displaystyle {\mathcal {M}}} is a 3D mesh). Interestingly, the semidefinite relaxation is empirically tight, i.e., a certifiably globally optimal solution can be extracted from the solution of the semidefinite relaxation. === Robust registration === The least squares formulation (cb.2) is known to perform arbitrarily badly in the presence of outliers. An outlier correspondence is a pair of measurements s i ↔ m i {\displaystyle s_{i}\leftrightarrow m_{i}} that departs from the generative model (cb.1). In this case, one can consider a differen
Integrated writing environment
An integrated writing environment (IWE) is software that provides comprehensive writing and knowledge management functionality for writers and information workers. IWEs enable writers and information workers to perform a variety of tasks related to the document in the IWE in a single environment. This provides a distraction-free workspace and streamlined writing experience. IWEs provide similar efficiency and functionality benefits to writers and information professionals that integrated development environments (IDEs) provide to software developers. == Overview == IWEs are designed to maximize productivity and help improve the quality of written work by integrating together tools that allow users to work effectively in a single application. The IWE features may include integrated content search, reversion management, outlining, note management, and reference management, as may be suitable for the target field of use. == List of IWEs == Celtx This IWE is intended for screenplay writers and has screenplay writing and management tools. Celtex provides tools for the pre-production work phase, story development, storyboarding, script breakdowns, production scheduling, and reports. Scrivener This IWE targets novel, research paper, and script writing. Scrivener provides tools to organize notes and research documents for easy access and referencing. After completing the writing, Scrivener allows the user to export the document to formats supported by common word processors, such as Microsoft Word. TeXstudio This IWE targets LaTeX documents and provides interactive spelling checker, code folding, and syntax highlighting.
GLIMMER
In bioinformatics, GLIMMER (Gene Locator and Interpolated Markov ModelER) is used to find genes in prokaryotic DNA. "It is effective at finding genes in bacteria, archea, viruses, typically finding 98-99% of all relatively long protein coding genes". GLIMMER was the first system that used the interpolated Markov model to identify coding regions. The GLIMMER software is open source and is maintained by Steven Salzberg, Art Delcher, and their colleagues at the Center for Computational Biology at Johns Hopkins University. The original GLIMMER algorithms and software were designed by Art Delcher, Simon Kasif and Steven Salzberg and applied to bacterial genome annotation in collaboration with Owen White. == Versions == === GLIMMER 1.0 === First Version of GLIMMER "i.e., GLIMMER 1.0" was released in 1998 and it was published in the paper Microbial gene identification using interpolated Markov model. Markov models were used to identify microbial genes in GLIMMER 1.0. GLIMMER considers the local composition sequence dependencies which makes GLIMMER more flexible and more powerful when compared to fixed-order Markov model. There was a comparison made between interpolated Markov model used by GLIMMER and fifth order Markov model in the paper Microbial gene identification using interpolated Markov models. "GLIMMER algorithm found 1680 genes out of 1717 annotated genes in Haemophilus influenzae where fifth order Markov model found 1574 genes. GLIMMER found 209 additional genes which were not included in 1717 annotated genes where fifth order Markov model found 104 genes."' === GLIMMER 2.0 === Second Version of GLIMMER i.e., GLIMMER 2.0 was released in 1999 and it was published in the paper Improved microbial identification with GLIMMER. This paper provides significant technical improvements such as using interpolated context model instead of interpolated Markov model and resolving overlapping genes which improves the accuracy of GLIMMER. Interpolated context models are used instead of interpolated Markov model which gives the flexibility to select any base. In interpolated Markov model probability distribution of a base is determined from the immediate preceding bases. If the immediate preceding base is irrelevant amino acid translation, interpolated Markov model still considers the preceding base to determine the probability of given base where as interpolated context model which was used in GLIMMER 2.0 can ignore irrelevant bases. False positive predictions were increased in GLIMMER 2.0 to reduce the number of false negative predictions. Overlapped genes are also resolved in GLIMMER 2.0. Various comparisons between GLIMMER 1.0 and GLIMMER 2.0 were made in the paper Improved microbial identification with GLIMMER which shows improvement in the later version. "Sensitivity of GLIMMER 1.0 ranges from 98.4 to 99.7% with an average of 99.1% where as GLIMMER 2.0 has a sensitivity range from 98.6 to 99.8% with an average of 99.3%. GLIMMER 2.0 is very effective in finding genes of high density. The parasite Trypanosoma brucei, responsible for causing African sleeping sickness is being identified by GLIMMER 2.0" === GLIMMER 3.0 === Third version of GLIMMER, "GLIMMER 3.0" was released in 2007 and it was published in the paper Identifying bacterial genes and endosymbiont DNA with Glimmer. This paper describes several major changes made to the GLIMMER system including improved methods to identify coding regions and start codon. Scoring of ORF in GLIMMER 3.0 is done in reverse order i.e., starting from stop codon and moves back towards the start codon. Reverse scanning helps in identifying the coding portion of the gene more accurately which is contained in the context window of IMM. GLIMMER 3.0 also improves the generated training set data by comparing the long-ORF with universal amino acid distribution of widely disparate bacterial genomes."GLIMMER 3.0 has an average long-ORF output of 57% for various organisms where as GLIMMER 2.0 has an average long-ORF output of 39%." GLIMMER 3.0 reduces the rate of false positive predictions which were increased in GLIMMER 2.0 to reduce the number of false negative predictions. "GLIMMER 3.0 has a start-site prediction accuracy of 99.5% for 3'5' matches where as GLIMMER 2.0 has 99.1% for 3'5' matches. GLIMMER 3.0 uses a new algorithm for scanning coding regions, a new start site detection module, and architecture which integrates all gene predictions across an entire genome." Minimum description length === Theoretical and Biological Foundation === The GLIMMER project helped introduce and popularize the use of variable length models in Computational Biology and Bioinformatics that subsequently have been applied to numerous problems such as protein classification and others. Variable length modeling was originally pioneered by information theorists and subsequently ingeniously applied and popularized in data compression (e.g. Ziv-Lempel compression). Prediction and compression are intimately linked using Minimum Description Length Principles. The basic idea is to create a dictionary of frequent words (motifs in biological sequences). The intuition is that the frequently occurring motifs are likely to be most predictive and informative. In GLIMMER the interpolated model is a mixture model of the probabilities of these relatively common motifs. Similarly to the development of HMMs in Computational Biology, the authors of GLIMMER were conceptually influenced by the previous application of another variant of interpolated Markov models to speech recognition by researchers such as Fred Jelinek (IBM) and Eric Ristad (Princeton). The learning algorithm in GLIMMER is different from these earlier approaches. == Access == GLIMMER can be downloaded from The Glimmer home page (requires a C++ compiler). Alternatively, an online version is hosted by NCBI [1]. == How it works == GLIMMER primarily searches for long-ORFS. An open reading frame might overlap with any other open reading frame which will be resolved using the technique described in the sub section. Using these long-ORFS and following certain amino acid distribution GLIMMER generates training set data. Using these training data, GLIMMER trains all the six Markov models of coding DNA from zero to eight order and also train the model for noncoding DNA GLIMMER tries to calculate the probabilities from the data. Based on the number of observations, GLIMMER determines whether to use fixed order Markov model or interpolated Markov model. If the number of observations are greater than 400, GLIMMER uses fixed order Markov model to obtain there probabilities. If the number of observations are less than 400, GLIMMER uses interpolated Markov model which is briefly explained in the next sub section. GLIMMER obtains score for every long-ORF generated using all the six coding DNA models and also using non-coding DNA model. If the score obtained in the previous step is greater than a certain threshold then GLIMMER predicts it to be a gene. The steps explained above describes the basic functionality of GLIMMER. There are various improvements made to GLIMMER and some of them are described in the following sub-sections. === The GLIMMER system === GLIMMER system consists of two programs. First program called build-imm, which takes an input set of sequences and outputs the interpolated Markov model as follows. The probability for each base i.e., A,C,G,T for all k-mers for 0 ≤ k ≤ 8 is computed. Then, for each k-mer, GLIMMER computes weight. New sequence probability is computed as follows. where n is the length of the sequence S x {\displaystyle S_{x}} is the oligomer at position x. I M M 8 ( S x ) {\displaystyle IMM_{8}(S_{x})} , the 8 t h {\displaystyle 8^{th}} -order interpolated Markov model score is computed as "where Y k ( S x − 1 ) {\displaystyle Y_{k}(S_{x-1})} is the weight of the k-mer at position x-1 in the sequence S and P k ( S x ) {\displaystyle P_{k}(S_{x})} is the estimate obtained from the training data of the probability of the base located at position x in the k t h {\displaystyle k^{th}} -order model." The probability of base S x {\displaystyle S_{x}} given the i previous bases is computed as follows. "The value of Y i ( S x ) {\displaystyle Y_{i}(S_{x})} associated with P i ( S x ) {\displaystyle P_{i}(S_{x})} can be regarded as a measure of confidence in the accuracy of this value as an estimate of the true probability. GLIMMER uses two criteria to determine Y i ( S x ) {\displaystyle Y_{i}(S_{x})} . The first of these is simple frequency occurrence in which the number of occurrences of context string S x , i {\displaystyle S_{x,i}} in the training data exceeds a specific threshold value, then Y i ( S x ) {\displaystyle Y_{i}(S_{x})} is set to 1.0. The current default value for threshold is 400, which gives 95% confidence. When there are insufficient sample occurrences of a context string, build-imm employ additional criteria to determine Y {\displaystyle Y} value. For a
Is an AI Art Generator Worth It in 2026?
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Max Welling
Max Welling (born 1968) is a Dutch computer scientist in machine learning at the University of Amsterdam. In August 2017, the university spin-off Scyfer BV, co-founded by Welling, was acquired by Qualcomm. He has since then served as a Vice President of Technology at Qualcomm Netherlands. He is also a Distinguished Scientist at Microsoft Research AI4Science, based in Amsterdam. Welling received his PhD in physics with a thesis on quantum gravity under the supervision of Nobel laureate Gerard 't Hooft (1998) at the Utrecht University. He has published over 250 peer-reviewed articles in machine learning, computer vision, statistics and physics, and has most notably invented variational autoencoders (VAEs), together with Diederik P Kingma. In 2025 Welling was elected member of the Royal Netherlands Academy of Arts and Sciences.
Reflection lines
Engineers use reflection lines to judge a surface's quality. Reflection lines reveal surface flaws, particularly discontinuities in normals indicating that the surface is not C 2 {\displaystyle C^{2}} . Reflection lines may be created and examined on physical surfaces or virtual surfaces with the help of computer graphics. For example, the shiny surface of an automobile body is illuminated with reflection lines by surrounding the car with parallel light sources. Virtually, a surface can be rendered with reflection lines by modulating the surfaces point-wise color according to a simple calculation involving the surface normal, viewing direction and a square wave environment map. == Mathematical definition == Consider a point p {\displaystyle p} on a surface M {\displaystyle M} with (normalized) normal n {\displaystyle n} . If an observer views this point from infinity at view direction v {\displaystyle v} then the reflected view direction r {\displaystyle r} is: r = v − 2 ( n ⋅ v ) n . {\displaystyle r=v-2(n\cdot v)n.} (The vector v {\displaystyle v} is decomposed into its normal part v n = ( n ⋅ v ) v {\displaystyle v_{n}=(n\cdot v)v} and tangential part v t = v − v n {\displaystyle v_{t}=v-v_{n}} . Upon reflection, the tangential part is kept and the normal part is negated.) For reflection lines we consider the surface M {\displaystyle M} surrounded by parallel lines with direction a {\displaystyle a} , representing infinite, non-dispersive light sources. For each point p {\displaystyle p} on M {\displaystyle M} we determine which line is seen from direction v {\displaystyle v} . The position on each line is of no interest. Define the vector r p {\displaystyle r_{p}} to be the reflection direction r {\displaystyle r} projected onto a plane P {\displaystyle P} that is orthogonal to a {\displaystyle a} : r p = r − ( r ⋅ a ) a {\displaystyle r_{p}=r-(r\cdot a)a} and similarly let v p {\displaystyle v_{p}} be the viewing direction projected onto P {\displaystyle P} : v p = v − ( v ⋅ a ) a {\displaystyle v_{p}=v-(v\cdot a)a} Finally, define v o {\displaystyle v_{o}} to be the direction lying in P {\displaystyle P} perpendicular to a {\displaystyle a} and v p {\displaystyle v_{p}} : v o = a × v p {\displaystyle v_{o}=a\times v_{p}} Using these vectors, the reflection line function θ ( p ) : M → ( − π , π ] {\displaystyle \theta (p):M\rightarrow (-\pi ,\pi ]} is a scalar function mapping points p {\displaystyle p} on the surface to angles between v p {\displaystyle v_{p}} and r p {\displaystyle r_{p}} : θ = arctan ( r p ⋅ v o , r p ⋅ v p ) {\displaystyle \theta =\arctan {(r_{p}\cdot v_{o},r_{p}\cdot v_{p})}} where a r c t a n ( y , x ) {\displaystyle arctan(y,x)} is the atan2 function producing a number in the range ( − π , π ] {\displaystyle (-\pi ,\pi ]} . ( v p {\displaystyle v_{p}} and v o {\displaystyle v_{o}} can be viewed as a local coordinate system in P {\displaystyle P} with x {\displaystyle x} -axis in direction v p {\displaystyle v_{p}} and y {\displaystyle y} -axis in direction v o {\displaystyle v_{o}} .) Finally, to render the reflection lines positive values θ > 0 {\displaystyle \theta >0} are mapped to a light color and non-positive values to a dark color. == Highlight lines == Highlight lines are a view-independent alternative to reflection lines. Here the projected normal is directly compared against some arbitrary vector x {\displaystyle x} perpendicular to the light source: θ = arctan ( n a ⋅ a ⊥ , n a ⋅ x ) {\displaystyle \theta =\arctan {(n_{a}\cdot a^{\perp },n_{a}\cdot x)}} where n a {\displaystyle n_{a}} is the surface normal projected on the light source plane P {\displaystyle P} : n a ^ / | n a ^ | , n a ^ = n − ( n ⋅ a ) a {\displaystyle {\hat {n_{a}}}/|{\hat {n_{a}}}|,{\hat {n_{a}}}=n-(n\cdot a)a} The relationship between reflection lines and highlight lines is likened to that between specular and diffuse shading.
Jacek M. Zurada
Jacek M. Zurada is a Polish-American computer scientist who is a Professor of the Electrical and Computer Engineering Department at the University of Louisville, Kentucky. His M.S. and Ph.D. degrees are from Politechnika Gdaṅska (Gdansk University of Technology, Poland). He has held visiting appointments at the Swiss Federal Institute of Technology, Zurich, Princeton, Northeastern, and Auburn, and at overseas universities in Australia, Chile, China, France, Germany, Hong Kong, Italy, Japan, Poland, Singapore, Spain, and South Africa. He is a life fellow of IEEE and a fellow of the International Neural Networks Society and Doctor Honoris Causa of Czestochowa Institute of Technology, Poland. == Research == Zurada's research covers neural networks, deep learning, data mining with emphasis on data and feature understanding, rule extraction from semantic and visual information, machine learning, decomposition methods for salient feature extraction, and lambda learning rule for neural networks. == Professional and editorial service == Zurada was the editor-in-chief of IEEE Transactions on Neural Networks (1998–2003), an associate editor of IEEE Transactions on Circuits and Systems, Pt. I and Pt. II, Action Editor in Neural Networks (Elsevier) and on the editorial board of the Proceedings of the IEEE. He is an associate editor of Neurocomputing, Schedae Informaticae, the International Journal of Applied Mathematics and Computer Science, and Editor of the Springer Natural Computing, Advances in Intelligent Systems and Computing and Studies in Computational Intelligence Book series or volumes. == Awards and honours == In 2003 he was given the title of Professor by the President of Poland. Since 2005 he has been an elected Foreign Member of the Polish Academy of Sciences. He also received five honorary professorships from foreign universities, including Sichuan University in Chengdu, China, and Obuda University in Budapest, Hungary.