title: Analysis of binning of normals for spherical harmonic cross-correlation

authors: Larkins, Robert L.

subjects: spherical harmonics

abstract: Spherical harmonic cross-correlation is a robust registration technique that uses the normals of two overlapping point clouds to bring them into coarse rotational alignment. This registration technique however has a high computational cost as spherical harmonics need to be calculated for every normal. By binning the normals, the computational efficiency is improved as the spherical harmonics can be pre-computed and cached at each bin location. In this paper we evaluate the efficiency and accuracy of the equiangle grid, icosahedron subdivision and the Fibonacci spiral, an approach we propose. It is found that the equiangle grid has the best efficiency as it can perform direct binning, followed by the Fibonacci spiral and then the icosahedron, all of which decrease the computational cost compared to no binning. The Fibonacci spiral produces the highest achieved accuracy of the three approaches while maintaining a low number of bins. The number of bins allowed by the equiangle grid and icosahedron are much more restrictive than the Fibonacci spiral. The performed analysis shows that the Fibonacci spiral can perform as well as the original cross-correlation algorithm without binning, while also providing a significant improvement in computational efficiency.

text: Analysis of binning of normals for spherical harmonic cross-correlation Spherical harmonic cross-correlation is a robust registration technique that uses the normals of two overlapping point clouds to bring them into coarse rotational alignment. This registration technique however has a high computational cost as spherical harmonics need to be calculated for every normal. By binning the normals, the computational efficiency is improved as the spherical harmonics can be pre-computed and cached at each bin location. In this paper we evaluate the efficiency and accuracy of the equiangle grid, icosahedron subdivision and the Fibonacci spiral, an approach we propose. It is found that the equiangle grid has the best efficiency as it can perform direct binning, followed by the Fibonacci spiral and then the icosahedron, all of which decrease the computational cost compared to no binning. The Fibonacci spiral produces the highest achieved accuracy of the three approaches while maintaining a low number of bins. The number of bins allowed by the equiangle grid and icosahedron are much more restrictive than the Fibonacci spiral. The performed analysis shows that the Fibonacci spiral can perform as well as the original cross-correlation algorithm without binning, while also providing a significant improvement in computational efficiency.

year: 2012

title: Examination of the Accuracy and Applicability of Information in Popular Books on Dog Training

authors: Browne, Clare Melody

subjects: Social Sciences

abstract: There is a wealth of popular literature available on dog behavior and training; sourcing reliable and trustworthy advice is important to achieving successful training. The aim of this study was to select five best-selling (at that time) dog training books, and review their general content and references to basic learning theory and human communicative cues. An Internet search was performed on three online bookstores’ websites for “best selling” “dog training” books. The books were by Millan and Peltier (2006), Fennell (2002), Stilwell (2005), Pryor (1999), and Monks of New Skete (2002). The results showed marked differences across all books, including inconsistencies in the depth of information provided, and some starkly contrasting training methods were advocated. Overall, these books were not all considered to function as instructional manuals. The persistent popularity of these books suggests that they have likely contributed appreciably to the type of information accessed by dog guardians.

text: Examination of the Accuracy and Applicability of Information in Popular Books on Dog Training There is a wealth of popular literature available on dog behavior and training; sourcing reliable and trustworthy advice is important to achieving successful training. The aim of this study was to select five best-selling (at that time) dog training books, and review their general content and references to basic learning theory and human communicative cues. An Internet search was performed on three online bookstores’ websites for “best selling” “dog training” books. The books were by Millan and Peltier (2006), Fennell (2002), Stilwell (2005), Pryor (1999), and Monks of New Skete (2002). The results showed marked differences across all books, including inconsistencies in the depth of information provided, and some starkly contrasting training methods were advocated. Overall, these books were not all considered to function as instructional manuals. The persistent popularity of these books suggests that they have likely contributed appreciably to the type of information accessed by dog guardians.

year: 2017

title: He purapura whetū tō te whakataukī

authors: Tuahine, Hōhepa

subjects: Whakataukī

abstract: Ko te whakataukī he kōrero e whakaatu ana i ngā tini āhuatanga o te Māori me te āhua o tōna taiao (Milroy, 2004, wh. 38).  Hei tuinga ake, he kōrero e pupuri ana i ngā tohutohu e tau ai te noho o te tangata ki te whenua.  Ka rerekē te whakatakotoranga o te kupu o te whakataukī o nehe, ki te reo Māori o nāianei.  Ko ngā whakataukī o tāukiuki i titoa i te wā e ora tonu ana ngā whare wānanga o nehe me ōna tohunga.  Ka mutu, ko te reo me ōna kupu kei tērā taumata e rere ana.  Nō reira, he kōrero e whakaata ana i te ao Māori, ko ōna atua, ko ōna tikanga, ko ōna pakanga, ko ōna tātai whakapapa, ko ōna mātauranga, ko ōna tohutohu (Milroy, 2004, wh. 38).  Ka tākaitia ake aua mātauranga ki te kōrero poto noa iho, ka tuku iho ai ki ngā uri whakaheke.

text: He purapura whetū tō te whakataukī Ko te whakataukī he kōrero e whakaatu ana i ngā tini āhuatanga o te Māori me te āhua o tōna taiao (Milroy, 2004, wh. 38).  Hei tuinga ake, he kōrero e pupuri ana i ngā tohutohu e tau ai te noho o te tangata ki te whenua.  Ka rerekē te whakatakotoranga o te kupu o te whakataukī o nehe, ki te reo Māori o nāianei.  Ko ngā whakataukī o tāukiuki i titoa i te wā e ora tonu ana ngā whare wānanga o nehe me ōna tohunga.  Ka mutu, ko te reo me ōna kupu kei tērā taumata e rere ana.  Nō reira, he kōrero e whakaata ana i te ao Māori, ko ōna atua, ko ōna tikanga, ko ōna pakanga, ko ōna tātai whakapapa, ko ōna mātauranga, ko ōna tohutohu (Milroy, 2004, wh. 38).  Ka tākaitia ake aua mātauranga ki te kōrero poto noa iho, ka tuku iho ai ki ngā uri whakaheke.

year: 2016