G. V. Ovchinnikov

A. L. Pavlov, G. V. Ovchinnikov, D. Yu. Derbyshev et al.

Iterative Closest Point (ICP) is a widely used method for performing scan-matching and registration. Being simple and robust method, it is still computationally expensive and may be challenging to use in real-time applications with limited resources on mobile platforms. In this paper we propose novel effective method for acceleration of ICP which does not require substantial modifications to the existing code. This method is based on an idea of Anderson acceleration which is an iterative procedure for finding a fixed point of contractive mapping. The latter is often faster than a standard Picard iteration, usually used in ICP implementations. We show that ICP, being a fixed point problem, can be significantly accelerated by this method enhanced by heuristics to improve overall robustness. We implement proposed approach into Point Cloud Library (PCL) and make it available online. Benchmarking on real-world data fully supports our claims.

G. V. Ovchinnikov, D. Zorin, I. V. Oseledets

Topological optimization finds a material density distribution minimizing a functional of the solution of a partial differential equation (PDE), subject to a set of constraints (typically, a bound on the volume or mass of the material). Using a finite elements discretization (FEM) of the PDE and functional we obtain an integer programming problem. Due to approximation error of FEM discretization, optimization problem becomes mesh-depended and possess false, physically inadequate optimums, while functional value heavily depends on fineness of discretization scheme used to compute it. To alleviate this problem, we propose regularization of given functional by error estimate of FEM discretization. This regularization provides robustness of solutions and improves obtained functional values as well. While the idea is broadly applicable, in this paper we apply our method to the heat conduction optimization. This type of problems are of practical importance in design of heat conduction channels, heat sinks and other types of heat guides.