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Phi Lambda Upsilon Chapter Activities Grant Application* Date of  Form

Phi Lambda Upsilon Chapter Activities Grant Application* Date of Form

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let us consider Source Point Cloud as a noisy copy of Target Point cloud with unknown transformation and scale if we can find transformation from frame ref to BT we can effectively register the point Cloud to achieve this we compare spherical projection of each source and Target our method composed with directional correspondence matching follow by iterative transformation estimation we first apply spherical projection about reference frame then from projected Point Cloud we find directional correspondence this is done by dividing projected Point cloud with subcell and compute gradient of neighboring subcells since subcell is divided with polar and Azimuth angle it represents the points in certain directions by using computed gradient Vector we build directional correspondence based on directional correspondence we then estimate rotation and translation after applying transform to Source Point Cloud the local coordinate frame of Source Point Cloud changes consequently the projection al

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