U[ Z\]\ C BB ?^/<_`&(3a+'97b c H &J0J
dfeGgheaijilkinm]opeaqrkAsutwvkgxygk6z]{i|t~}|{ m]}g{~Lt }l{ -P"&YO953G&('*'9&JO +5879+/ ^O79#8&P3'9+ 0&JO*O+)79 ^/8"N-15793&f^-P"&JOb+)79#8&YO9-4&YO*0&J/8&Y/0+-b^//8" 79#8&J-7 +b"&(72+/8&!#"#8&('w'9&JO +^5879+/P-."&`+)<79#7O*0&J/8&1]lIw8+'-P/4'9"&!^/83587~-P"&JOJ79#8&n3'9+E0&JO9O 0(/a&&('9%O9+]/%79#&('9&(),+'*&b-P&JOnP"++E0(/^7 &),+'n3'*&J^J79+/
8&JO90' a&J
ExpectationMaximization Registration Results
Source Feature Points Target Feature Points EM Results (Transformed Source Points)
¯ # &1©~j¶^OM/ &¢80&J&J/7+379-PJ79+/N7 &J0 #/ 58&<2&1# 7 '9+5&1"&(7 79/8"%0+/O9O97 &J/h7'9&JO9579O(G3' 790(5^'*Pn#&J/Y79#&'9+7979+/6¹]7 '*/O979+/%O`/8+/8l7 '*E¿IwE#8+'979),7 &('n+58'`/7 &('*-Á'9&(3a+'97(82&+37 &J 7 +5O &./8+79#8&('°3a+S2&('9)¡5~+379-PJ79+/7 &J0*#/ 58&P0(&J_nKM¨EKn®ÆlI_nKM¨EKn® _nKM¨!+-ÑEKM-f 3&42+/O &J/O95O `"&J/8&('*7 &JO-4+E8&('*7 &f/5-ba&('M+)#3a+79#8&JO &JOJa^/N+58'0(O &f'*/8+-P0 #8++O*/8"79#8'9&(& 3587979&0+'9'9&JO 3a+/8&J/0&JO O95833a+O &J-P790 #/8"43'*O+)3a+/79O /%0+-4365879/8"f79#8&'9&JO93G&J079&À./8& 7 '*/O9),+'*-I©L0*## 3G+79#&JO9OOMO90+'9&J N7 '*/O9),+'*-./8"Y^¤-P790 #/8"¤3a+/79OM),'*+-ÒO +5'*0&4-P"& /0+5/79/8"%#8+]Ó-P/+)79#8&J-¶ /&('*Oc)?n79#/O9-.uO 79/0&f+)279#8&J'3'9&JO*5-4&J-P790*#/8" 3a+/79O/79#8&79'9"&(7M-P"&IL¥n#8&#"#8&JO97`O90+'9&n^/O(II(I*/79#^O)¡O9#+/<879#8&O9-P3&JO`8&(7 &(' -P/8&n#^0*# 7 '*/O9),+'*-®#O79#8&a&JO 7¦7(I
¼
RANSAC Registration Results
Source Feature Points Target Feature Pts RANSAC Results (Transformed Source Points)
ÂkE{zS}ght }l{ÕÔ?ÖÕm]}kgv{ileG}l{ ¯ &3'*+ 50& #"#Ë'9&JO +5879+/p^-P"&JO%n79#ËO 79/'*/7 &('93a+79+/p7 &J0*#/ 58&JO(IÐ¥`#8&/7 &('93a+79+/ O90 #8&J-4&n79#7L2&!-436&J-4&J/7wO~O &J.+/P|/8&J'w/7 &('93a+79+/rÈL|^/8&J'^/h7 &('93a+79+/40+/O9O 79OL+)<7|2+ O 7 &(3OJO90(///" '9+S/O90(///" 0+5-P/+/79#&4'9&JO957-."&4),'9+-×79#&P¦'*O 7O 7 &(3I /&J0 # O90(/<),+'&(&('9 &J-437jN3¢ &J?58&<7|2+/8&J'9&JO97/8+/El&J-437jN3¢ &J?58&JO'9&4)¡+5// 79#8&4O9-4&4'9+] ¡+'0+5-P/G/79#8&(N'9&f5O &J7 +&JO 79-P7 &179#8&1&J-437j3£¢E&Jr58&IM©LO 79-.79+/^O!8+/&b N8'*Sn/8" fO 7 '*"#7/8&M0+//8&J079/"°79#8&7j+P+E0(79+/O2+)79#8&!7j+4E/8+]n/3£¢E&J58&JO/'9&J^/8"b79#8&58&7 79#8&+E0(79+/+)?79#8&5/8E/8+Sn/3¢ &J¿I~¥`#&M¦'*O 7O90(/O8+/8&+/./4O &(7+)'*+SnO`^/Y!#0*#/8+/8l&J-437| 3£¢E&Jw58&JO°&I /79#&O &J0+/O90(/r~79#8&.7j+/8&J'9&JO97°/8+/El&J-P37|36£¢ &JLÆ^58&JOb'9&)¡+5/)¡'9+-Ø79#8& 3'979^./7 &('93a+7 &J^-P"&n#0 #%O79#8&'*&JO957)¡'9+-Å79#8&¦'*O 7`O90(/
/&J'n/7 &('93a+79+/-P3&J-4&J/7979+/<G¤&(&('9 ¤Y'9+]ÍO!O90(//8&J/ /h7 &('*3G+^7 &J
700
Total Comm Disk
600
Time (sec)
500 400 300 200 100 0
1
2
4 Number of Processors
8
16
KMO+510(/°O9&(&Æ3a&('9)¡+'*-P/0&LO90(&JO),'*+-Ùa+587L(M-P/ 587 &JO<)¡+'79#&O &('*^0+ &L7 +!a+587u IÜ`-P^/587 &JO+/ &J"#7L/8+E8&JO(hbO 3a&(&J5834+)a),+5'JI?¥n#8&`O9£¢E7 &(&J/./8+E8&`0(O &MO~a+587w79#8&`O*-4&!O 3a&(&J4OL&J"#h7/8+ &JO(h&J +S!/8"N7 + -°5793&43'9+ 0&JO*O &JOba&J/"O90*#8&J5&J+/79#8&O9-4&Y/+ 8&I+-P-°5/0(79+/79^-4& ¤0+-P-.¤h OM)'*0+/O979/h7'9&("' &JO9O+)79#8&4/5-°a&('!+)2/8+E8&JO(rO9/0&°79#8&f3'*+&J-ÒO9(&4OM¦8¢E&J /79#&PO9-4& -4+5/7+)79fO9^-434#O27 +4a&!^O 7 '*57 &J.-4+/8"4-4+'*&M3'9+ 0&JO*O &JO(I H O ¹«Ù79-4&"'9+]nO2n79#79#8&
/ 5-ba&('+)u3'9+E0&JO9O &JOnO`r/8+E8&JO'9&°0+-43a&(79/8"4)¡+'`79#8&bO9-P&/8&(7|2+'9%¦&O EO 7 &J-®/8n^879#
+-4&N'9&JO9579OP),'9+-Ý79#8&a+]&O9-436&N-P"&'9&N3'*&JO &J/h7 &JAa&J+S0+-43' /8"'9&JO*579O4)¡+'Y/8&J'*&JO 7c /8&J"#a+'./7 &('93a+79+/ -."/¦&J±+)+]l'9&JO +579+/²+'*"^/£° &()¡7 0(58^0^/h7 &('93a+79+/Ù 0&J/h7 &(' /%+5'nO9583a&('9'9&JO9+5879+/Y'9&J0+/O 7 ' 5079+/ ¡'*"#h7 I
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