In this paper we present a multiview registration method for aligning range data. We first align scans pairwise with each other and use the pairwise alignments as constraints that the multiview step enforces while evenly diffusing the pairwise registration errors. This approach is especially suitable for registering large data sets, since using constraints from pairwise alignments does not requ...

We present a force field based approach for simultaneous alignment of multiple laser scans in robot mapping. It avoids sensitive behavior to wrong data associations and sparse sensing, which are the main challenges e.g. in multi robot mapping under the constraints given in autonomous search and rescue robotics. The presented algorithm solves the alignment problem utilizing a gradient descent ap...

The average number of constraints per particle in mechanically stable amorphous systems of Platonic solids approaches the isostatic limit at the jamming point (→12), though average number of contacts are hypostatic. By introducing angular alignment metrics to classify the degree of constraint imposed by each contact, constraints are shown to arise as a direct result of loca...

Aligning words from sentences which are mutual translations is an important problem in different settings, such as bilingual terminology extraction, Machine Translation, or projection of linguistic features. Here, we view word alignment as matrix factorisation. In order to produce proper alignments, we show that factors must satisfy a number of constraints such as orthogonality. We then propose...

We present a model that can automatically learn alignments between high-dimensional data in an unsupervised manner. Learning alignments is an ill-constrained problem as there are many different ways of defining a good alignment. Our proposed method casts alignment learning in a framework where both alignment and data are modelled simultaneously. We derive a probabilistic model built on non-para...

Constrained sequence alignment has been studied extensively in the past. Different forms of constraints have been investigated, where a constraint can be a subsequence, a regular expression, or a probability matrix of symbols and positions. However, constrained structural alignment has been investigated to a much lesser extent. In this paper, we present an efficient method for constrained struc...

The computer system PROSPECT for the protein fold recognition using the threading method is described and evaluated in this article. For a given target protein sequence and a template structure, PROSPECT guarantees to find a globally optimal threading alignment between the two. The scoring function for a threading alignment employed in PROSPECT consists of four additive terms: i) a mutation ter...