Wasserstein GAN

The Wasserstein Generative Adversarial Network (WGAN) is a variant of generative adversarial network (GAN) proposed in 2017 that aims to "improve the stability of learning, get rid of problems like mode collapse, and provide meaningful learning curves useful for debugging and hyperparameter searches". Compared with the original GAN discriminator, the Wasserstein GAN discriminator provides a better learning signal to the generator. This allows the training to be more stable when generator is learning distributions in very high dimensional spaces. == Motivation == === The GAN game === The original GAN method is based on the GAN game, a zero-sum game with 2 players: generator and discriminator. The game is defined over a probability space ( Ω , B , μ r e f ) {\displaystyle (\Omega ,{\mathcal {B}},\mu _{ref})} , The generator's strategy set is the set of all probability measures μ G {\displaystyle \mu _{G}} on ( Ω , B ) {\displaystyle (\Omega ,{\mathcal {B}})} , and the discriminator's strategy set is the set of measurable functions D : Ω → [ 0 , 1 ] {\displaystyle D:\Omega \to [0,1]} . The objective of the game is L ( μ G , D ) := E x ∼ μ r e f [ ln ⁡ D ( x ) ] + E x ∼ μ G [ ln ⁡ ( 1 − D ( x ) ) ] . {\displaystyle L(\mu _{G},D):=\mathbb {E} _{x\sim \mu _{ref}}[\ln D(x)]+\mathbb {E} _{x\sim \mu _{G}}[\ln(1-D(x))].} The generator aims to minimize it, and the discriminator aims to maximize it. A basic theorem of the GAN game states that Repeat the GAN game many times, each time with the generator moving first, and the discriminator moving second. Each time the generator μ G {\displaystyle \mu _{G}} changes, the discriminator must adapt by approaching the ideal D ∗ ( x ) = d μ r e f d ( μ r e f + μ G ) . {\displaystyle D^{}(x)={\frac {d\mu _{ref}}{d(\mu _{ref}+\mu _{G})}}.} Since we are really interested in μ r e f {\displaystyle \mu _{ref}} , the discriminator function D {\displaystyle D} is by itself rather uninteresting. It merely keeps track of the likelihood ratio between the generator distribution and the reference distribution. At equilibrium, the discriminator is just outputting 1 2 {\displaystyle {\frac {1}{2}}} constantly, having given up trying to perceive any difference. Concretely, in the GAN game, let us fix a generator μ G {\displaystyle \mu _{G}} , and improve the discriminator step-by-step, with μ D , t {\displaystyle \mu _{D,t}} being the discriminator at step t {\displaystyle t} . Then we (ideally) have L ( μ G , μ D , 1 ) ≤ L ( μ G , μ D , 2 ) ≤ ⋯ ≤ max μ D L ( μ G , μ D ) = 2 D J S ( μ r e f ‖ μ G ) − 2 ln ⁡ 2 , {\displaystyle L(\mu _{G},\mu _{D,1})\leq L(\mu _{G},\mu _{D,2})\leq \cdots \leq \max _{\mu _{D}}L(\mu _{G},\mu _{D})=2D_{JS}(\mu _{ref}\|\mu _{G})-2\ln 2,} so we see that the discriminator is actually lower-bounding D J S ( μ r e f ‖ μ G ) {\displaystyle D_{JS}(\mu _{ref}\|\mu _{G})} . === Wasserstein distance === Thus, we see that the point of the discriminator is mainly as a critic to provide feedback for the generator, about "how far it is from perfection", where "far" is defined as Jensen–Shannon divergence. Naturally, this brings the possibility of using a different criteria of farness. There are many possible divergences to choose from, such as the f-divergence family, which would give the f-GAN. The Wasserstein GAN is obtained by using the Wasserstein metric, which satisfies a "dual representation theorem" that renders it highly efficient to compute: A proof can be found in the main page on Wasserstein metric. == Definition == By the Kantorovich-Rubenstein duality, the definition of Wasserstein GAN is clear:A Wasserstein GAN game is defined by a probability space ( Ω , B , μ r e f ) {\displaystyle (\Omega ,{\mathcal {B}},\mu _{ref})} , where Ω {\displaystyle \Omega } is a metric space, and a constant K > 0 {\displaystyle K>0} . There are 2 players: generator and discriminator (also called "critic"). The generator's strategy set is the set of all probability measures μ G {\displaystyle \mu _{G}} on ( Ω , B ) {\displaystyle (\Omega ,{\mathcal {B}})} . The discriminator's strategy set is the set of measurable functions of type D : Ω → R {\displaystyle D:\Omega \to \mathbb {R} } with bounded Lipschitz-norm: ‖ D ‖ L ≤ K {\displaystyle \|D\|_{L}\leq K} . The Wasserstein GAN game is a zero-sum game, with objective function L W G A N ( μ G , D ) := E x ∼ μ G [ D ( x ) ] − E x ∼ μ r e f [ D ( x ) ] . {\displaystyle L_{WGAN}(\mu _{G},D):=\mathbb {E} _{x\sim \mu _{G}}[D(x)]-\mathbb {E} _{x\sim \mu _{ref}}[D(x)].} The generator goes first, and the discriminator goes second. The generator aims to minimize the objective, and the discriminator aims to maximize the objective: min μ G max D L W G A N ( μ G , D ) . {\displaystyle \min _{\mu _{G}}\max _{D}L_{WGAN}(\mu _{G},D).} By the Kantorovich-Rubenstein duality, for any generator strategy μ G {\displaystyle \mu _{G}} , the optimal reply by the discriminator is D ∗ {\displaystyle D^{}} , such that L W G A N ( μ G , D ∗ ) = K ⋅ W 1 ( μ G , μ r e f ) . {\displaystyle L_{WGAN}(\mu _{G},D^{})=K\cdot W_{1}(\mu _{G},\mu _{ref}).} Consequently, if the discriminator is good, the generator would be constantly pushed to minimize W 1 ( μ G , μ r e f ) {\displaystyle W_{1}(\mu _{G},\mu _{ref})} , and the optimal strategy for the generator is just μ G = μ r e f {\displaystyle \mu _{G}=\mu _{ref}} , as it should. == Comparison with GAN == In the Wasserstein GAN game, the discriminator provides a better gradient than in the GAN game. Consider for example a game on the real line where both μ G {\displaystyle \mu _{G}} and μ r e f {\displaystyle \mu _{ref}} are Gaussian. Then the optimal Wasserstein critic D W G A N {\displaystyle D_{WGAN}} and the optimal GAN discriminator D {\displaystyle D} are plotted as below: For fixed discriminator, the generator needs to minimize the following objectives: For GAN, E x ∼ μ G [ ln ⁡ ( 1 − D ( x ) ) ] {\displaystyle \mathbb {E} _{x\sim \mu _{G}}[\ln(1-D(x))]} . For Wasserstein GAN, E x ∼ μ G [ D W G A N ( x ) ] {\displaystyle \mathbb {E} _{x\sim \mu _{G}}[D_{WGAN}(x)]} . Let μ G {\displaystyle \mu _{G}} be parametrized by θ {\displaystyle \theta } , then we can perform stochastic gradient descent by using two unbiased estimators of the gradient: ∇ θ E x ∼ μ G [ ln ⁡ ( 1 − D ( x ) ) ] = E x ∼ μ G [ ln ⁡ ( 1 − D ( x ) ) ⋅ ∇ θ ln ⁡ ρ μ G ( x ) ] {\displaystyle \nabla _{\theta }\mathbb {E} _{x\sim \mu _{G}}[\ln(1-D(x))]=\mathbb {E} _{x\sim \mu _{G}}[\ln(1-D(x))\cdot \nabla _{\theta }\ln \rho _{\mu _{G}}(x)]} ∇ θ E x ∼ μ G [ D W G A N ( x ) ] = E x ∼ μ G [ D W G A N ( x ) ⋅ ∇ θ ln ⁡ ρ μ G ( x ) ] {\displaystyle \nabla _{\theta }\mathbb {E} _{x\sim \mu _{G}}[D_{WGAN}(x)]=\mathbb {E} _{x\sim \mu _{G}}[D_{WGAN}(x)\cdot \nabla _{\theta }\ln \rho _{\mu _{G}}(x)]} where we used the reparameterization trick. As shown, the generator in GAN is motivated to let its μ G {\displaystyle \mu _{G}} "slide down the peak" of ln ⁡ ( 1 − D ( x ) ) {\displaystyle \ln(1-D(x))} . Similarly for the generator in Wasserstein GAN. For Wasserstein GAN, D W G A N {\displaystyle D_{WGAN}} has gradient 1 almost everywhere, while for GAN, ln ⁡ ( 1 − D ) {\displaystyle \ln(1-D)} has flat gradient in the middle, and steep gradient elsewhere. As a result, the variance for the estimator in GAN is usually much larger than that in Wasserstein GAN. See also Figure 3 of. The problem with D J S {\displaystyle D_{JS}} is much more severe in actual machine learning situations. Consider training a GAN to generate ImageNet, a collection of photos of size 256-by-256. The space of all such photos is R 256 2 {\displaystyle \mathbb {R} ^{256^{2}}} , and the distribution of ImageNet pictures, μ r e f {\displaystyle \mu _{ref}} , concentrates on a manifold of much lower dimension in it. Consequently, any generator strategy μ G {\displaystyle \mu _{G}} would almost surely be entirely disjoint from μ r e f {\displaystyle \mu _{ref}} , making D J S ( μ G ‖ μ r e f ) = + ∞ {\displaystyle D_{JS}(\mu _{G}\|\mu _{ref})=+\infty } . Thus, a good discriminator can almost perfectly distinguish μ r e f {\displaystyle \mu _{ref}} from μ G {\displaystyle \mu _{G}} , as well as any μ G ′ {\displaystyle \mu _{G}'} close to μ G {\displaystyle \mu _{G}} . Thus, the gradient ∇ μ G L ( μ G , D ) ≈ 0 {\displaystyle \nabla _{\mu _{G}}L(\mu _{G},D)\approx 0} , creating no learning signal for the generator. Detailed theorems can be found in. == Training Wasserstein GANs == Training the generator in Wasserstein GAN is just gradient descent, the same as in GAN (or most deep learning methods), but training the discriminator is different, as the discriminator is now restricted to have bounded Lipschitz norm. There are several methods for this. === Upper-bounding the Lipschitz norm === Let the discriminator function D {\displaystyle D} to be implemented by a multilayer perceptron: D = D n ∘ D n − 1 ∘ ⋯ ∘ D 1 {\displaystyle D=D_{n}\circ D_{n-1}\circ \cdots \circ D_{1}} where D i ( x ) = h ( W i x ) {\displaystyle D_{i}(x)=h(W_

MeeMix

MeeMix Ltd is a company specializing in personalizing media-related content recommendations, discovery and advertising for the telecommunication industry, founded in 2006. On January 1, 2008, MeeMix launched meemix.com, a public personalized internet radio serving as an online testbed for the development of music taste-prediction technologies. Subsequently, MeeMix released in 2009 a line of Business-to-business commercial services intended to personalize media recommendations, discovery and advertising. MeeMix hybrid taste-prediction technology relies on integrating machine learning algorithms, digital signal processing, behavior analysis, metadata analysis and collaborative filtering, and is provided via API web service. In August 2009, MeeMix was announced as Innovator Nominee in the GSM Association’s Mobile Innovation Grand Prix worldwide contest. As of 2013, MeeMix no longer features internet radios on meemix.com. On Sep 28, 2014, meemix.com went offline.

OrCam device

OrCam devices such as OrCam MyEye are portable, artificial vision devices that allow visually impaired people to understand text and identify objects through audio feedback, describing what they are unable to see. Reuters described an important part of how it works as "a wireless smartcamera" which, when attached outside eyeglass frames, can read and verbalize text, and also supermarket barcodes. This information is converted to spoken words and entered "into the user’s ear." Face-recognition is also part of OrCam's feature set. == Devices == OrCam Technologies Ltd has created three devices; OrCam MyEye 2.0, OrCam MyEye 1, and OrCam MyReader. OrCam My Eye 2.0: OrCam debuted the second-generation model, the OrCam MyEye 2.0 in December 2017. About the size of a finger, the MyEye 2.0 is battery-powered, and has been compressed into a self-contained device. The device snaps onto any eyeglass frame magnetically. Orcam 2.0 is small and light (22.5 grams/0.8 ounces) with functionality to restore independence to the visually impaired. It comes in two versions. The basic model can read text, and a more advanced one adds features such as face recognition and barcode reading. As of July 2023, the retail cost is between $4000 and $6000 (USD). == Clinical Studies == JAMA Ophthalmology: In 2016 JAMA Ophthalmology conducted a study involving 12 legally blind participants to evaluate the usefulness of a portable artificial vision device (OrCam) for patients with low vision. The results showed that the OrCam device improved the patient's ability to perform tasks simulating those of daily living, such as reading a message on an electronic device, a newspaper article or a menu. Wills Eye: Wills Eye was a clinical study designed to measure the impact of the OrCam device on the quality of life of patients with End-stage Glaucoma. The conclusion was that OrCam, a novel artificial vision device using a mini-camera mounted on eyeglasses, allowed legally blind patients with end-stage glaucoma to read independently, subsequently improving their quality of life. == Employee testing == The New York Times described how a pre-release OrCam device was used by a Coloboma-impaired employee of the device's developer in 2013 for grocery shopping. It was the small size of the prototype rather than the functionality that gave her added mobility in an Israeli store's aisles. Added life-enhancement was described: "to both recognize and speak .. bus numbers .. traffic lights." == Social aspects == In contrast to an early version of Google Glass, which "failed ... because .. Glass wearers were ..mocked", early OrCam devices used designs that "clip unobtrusively on your shirt or perhaps your belt." In addition, it does not record sounds or images, what was called "the privacy puzzle that stumped Google. One 2018 technology reviewer wrote that he wished it had a headphone jack "so it would be less disruptive in places where others are working." An attempt was made to use bone conduction. == USA introduction == In 2018 a team headed by New York Assemblyman Dov Hikind introduced use of OrCam devices to ten individuals screened for what he termed "new Israeli technology that really makes a difference to the blind." Although not the first USA success, it was more focused than a publicly funded project that was authorized in 2016 by a California government agency. Also in 2016 the Chicago Lighthouse for the Blind demonstrated its use. == Technology == In the area of hardware, miniaturization has been quite important, but one major area, software, was mentioned by Assemblyman Hikind, and reported by The Times of Israel is the "AI-driven algorithms" that "reports .. how many people are in a room. In addition to reading printed text, it can also aid in "seeing" what is on a television or computer screen. Although OrCam can't help with handwritten information, it can reuse information, the basis of recognizing "US currency, and even faces." === Features === While early language support was for English, French, German, Hebrew and Spanish, others now available include Danish, Dutch, Finnish, Italian, Norwegian, Portuguese and Swedish. == History == OrCam Technologies Ltd was founded in 2010 by Professor Amnon Shashua and Ziv Aviram. Before co-founding OrCam, the two in 1999 co-founded Mobileye, an Israeli company that develops vision-based advanced driver-assistance systems (ADAS) providing warnings for collision prevention and mitigation, which was acquired by Intel for $15.3 billion in 2017. OrCam launched OrCam MyEye in 2013 after years of development and testing, and began selling it commercially in 2015. In its early years, the company raised $22 million, $6 million of which came from Intel Capital. By 2014, Intel, which was also investing in Google Glass, had invested $15 million in Orcam. In March 2017, OrCam had raised $41 million in capital, making it worth $600 million. === Marketing === One outcome of initial marketing in the USA was that they "reached a deal with the California Department of Rehabilitation, ...qualifying blind and visually impaired state residents." == OrCam Technologies Ltd == OrCam Technologies Ltd. is the Israeli-based company producing these OrCam devices, which are wearable artificial intelligence space. The company develops and manufactures assistive technology devices for individuals who are visually impaired, partially sighted, blind, print disabilities, or have other disabilities. OrCam headquarters is located in Jerusalem, operating under the company name OrCam Technologies Ltd. OrCam has over 150 employees, is headquartered in Jerusalem, and has offices in New York, Toronto, and London. == Awards == 2018 Last Gadget Standing Winner 2018 CES Innovation Awards Honoree in Accessible Tech 2017 NAIDEX Innovation Award 2016 Louise Braille Corporate Recognition Award 2016 Silmo-d-Or Award

Brill tagger

The Brill tagger is an inductive method for part-of-speech tagging. It was described and invented by Eric Brill in his 1993 PhD thesis. It can be summarized as an "error-driven transformation-based tagger". It is: a form of supervised learning, which aims to minimize error; and, a transformation-based process, in the sense that a tag is assigned to each word and changed using a set of predefined rules. In the transformation process, if the word is known, it first assigns the most frequent tag, or if the word is unknown, it naively assigns the tag "noun" to it. High accuracy is eventually achieved by applying these rules iteratively and changing the incorrect tags. This approach ensures that valuable information such as the morphosyntactic construction of words is employed in an automatic tagging process. == Algorithm == The algorithm starts with initialization, which is the assignment of tags based on their probability for each word (for example, "dog" is more often a noun than a verb). Then "patches" are determined via rules that correct (probable) tagging errors made in the initialization phase: Initialization: Known words (in vocabulary): assigning the most frequent tag associated to a form of the word Unknown word == Rules and processing == The input text is first tokenized, or broken into words. Typically in natural language processing, contractions such as "'s", "n't", and the like are considered separate word tokens, as are punctuation marks. A dictionary and some morphological rules then provide an initial tag for each word token. For example, a simple lookup would reveal that "dog" may be a noun or a verb (the most frequent tag is simply chosen), while an unknown word will be assigned some tag(s) based on capitalization, various prefix or suffix strings, etc. (such morphological analyses, which Brill calls Lexical Rules, may vary between implementations). After all word tokens have (provisional) tags, contextual rules apply iteratively, to correct the tags by examining small amounts of context. This is where the Brill method differs from other part of speech tagging methods such as those using Hidden Markov Models. Rules are reapplied repeatedly, until a threshold is reached, or no more rules can apply. Brill rules are of the general form: tag1 → tag2 IF Condition where the Condition tests the preceding and/or following word tokens, or their tags (the notation for such rules differs between implementations). For example, in Brill's notation: IN NN WDPREVTAG DT while would change the tag of a word from IN (preposition) to NN (common noun), if the preceding word's tag is DT (determiner) and the word itself is "while". This covers cases like "all the while" or "in a while", where "while" should be tagged as a noun rather than its more common use as a conjunction (many rules are more general). Rules should only operate if the tag being changed is also known to be permissible, for the word in question or in principle (for example, most adjectives in English can also be used as nouns). Rules of this kind can be implemented by simple Finite-state machines. See Part of speech tagging for more general information including descriptions of the Penn Treebank and other sets of tags. Typical Brill taggers use a few hundred rules, which may be developed by linguistic intuition or by machine learning on a pre-tagged corpus. == Code == Brill's code pages at Johns Hopkins University are no longer on the web. An archived version of a mirror of the Brill tagger at its latest version as it was available at Plymouth Tech can be found on Archive.org. The software uses the MIT License.

Google Books Ngram Viewer

The Google Books Ngram Viewer is an online search engine that charts the frequencies of any set of search strings using a yearly count of n-grams found in printed sources published between 1500 and 2022 in Google's text corpora in English, Chinese (simplified), French, German, Hebrew, Italian, Russian, or Spanish. There are also some specialized English corpora, such as American English, British English, and English Fiction. The program can search for a word or a phrase. The n-grams are matched with the text within the selected corpus, and if found in 40 or more books, are then displayed as a graph. The program supports searches for parts of speech and wildcards. It is routinely used in research. == History == The Ngram Viewer was created by Google software engineers Will Brockman and Jon Orwant , who teamed up with Harvard researchers Jean-Baptiste Michel and Erez Lieberman Aiden. The service was released on December 16, 2010. Before the release, it was difficult to quantify the rate of linguistic change because of the absence of a database that was designed for this purpose, said Steven Pinker, a well-known linguist who was one of the co-authors of the Science paper published on the same day. The Google Books Ngram Viewer was developed in the hope of opening a new window to quantitative research in the humanities field, and the database contained 500 billion words from 5.2 million books publicly available from the very beginning. The intended audience was scholarly, but the Google Books Ngram Viewer made it possible for anyone with a computer to see a graph that represents the diachronic change of the use of words and phrases with ease. Lieberman said in response to The New York Times that the developers aimed to provide even children with the ability to browse cultural trends throughout history. In the Science paper, Lieberman and his collaborators called the method of high-volume data analysis in digitized texts "culturomics". == Usage == Commas delimit user-entered search terms, where each comma-separated term is searched in the database as an n-gram (for example, "nursery school" is a 2-gram or bigram). The Ngram Viewer then returns a plotted line chart. Due to limitations on the size of the Ngram database, only matches found in at least 40 books are indexed. == Limitations == The data sets of the Ngram Viewer have been criticized for their reliance upon inaccurate optical character recognition (OCR) and for including large numbers of incorrectly dated and categorized texts. Because of these errors, and because they are uncontrolled for bias (such as the increasing amount of scientific literature, which causes other terms to appear to decline in popularity), care must be taken in using the corpora to study language or test theories. Furthermore, the data sets may not reflect general linguistic or cultural change and can only hint at such an effect because they do not involve any metadata like date published, author, length, or genre, to avoid any potential copyright infringements. Systemic errors like the confusion of s and f in pre-19th century texts (due to the use of ſ, the long s, which is similar in appearance to f) can cause systemic bias. Although the Google Books team claims that the results are reliable from 1800 onwards, poor OCR and insufficient data mean that frequencies given for languages such as Chinese may only be accurate from 1970 onward, with earlier parts of the corpus showing no results at all for common terms, and data for some years containing more than 50% noise. Guidelines for doing research with data from Google Ngram have been proposed that try to address some of the issues discussed above.

N-World

N-World is a 3D graphics package developed by Nichimen Graphics in the 1990s, for Silicon Graphics and Windows NT workstations. Intended primarily for video game content creation, it has polygon modeling tools, 2D and 3D paint, scripting, color reduction, and exporters for several popular game consoles. After its initial release on Windows NT, N-World was renamed Mirai. The winged edge 3D modeler in N-World inspired the development at Nichimen Graphics of Nendo, a standalone 3D modeler, which in turn inspired the open source modeler Wings 3D. == History == N-World originated with Symbolics, a computer manufacturer notable for producing Lisp-based systems in the 1980s. Among the software packages that were produced for Symbolics computers are S-Graphics, a 3D animation suite that includes modules for polygon modeling, dynamics, paint, and rendering — titled S-Geometry, S-Dynamics, S-Paint, and S-Render, respectively. In 1992, Japanese trading company Nichimen Corporation purchased the rights to S-Graphics, ported it to Silicon Graphics IRIX, and marketed it as N-World. N-World retains the Lisp-based underpinnings of its predecessor, but was targeted at interactive content producers, with features useful for game developers. It was priced at US$16,995 (equivalent to $34,100 in 2025) for the full suite, later reduced to $9,995 when ported to Windows NT in 1997. N-World was used to create graphics for many console games in the 1990s, specifically most of the Nintendo 64 games, like Super Mario 64 and Final Fantasy VII. It was superseded by Mirai in 1999. == Features == The N-World package, like its predecessor S-Graphics, is divided into several components: N-Geometry: 3D polygon-based modeling tools, including smoothing, "magnet" geometry editing, and instancing. N-Dynamics: Animation tools including scripting, curve-based animation, and skeletal animation. N-Render: Surfacing and rendering tools with ray tracing and materials output to various game console formats. N-Paint: 2D and 3D paint with mattes, effects, color reduction, and a visual VRAM editor for PlayStation. Game Tools: Utilities for game developers, including exporters for PlayStation, Nintendo 64, and Saturn consoles. == Credits == The following games were created using N-World. Rap Stars Online

Normal distributions transform

The normal distributions transform (NDT) is a point cloud registration algorithm introduced by Peter Biber and Wolfgang Straßer in 2003, while working at University of Tübingen. The algorithm registers two point clouds by first associating a piecewise normal distribution to the first point cloud, that gives the probability of sampling a point belonging to the cloud at a given spatial coordinate, and then finding a transform that maps the second point cloud to the first by maximising the likelihood of the second point cloud on such distribution as a function of the transform parameters. Originally introduced for 2D point cloud map matching in simultaneous localization and mapping (SLAM) and relative position tracking, the algorithm was extended to 3D point clouds and has wide applications in computer vision and robotics. NDT is very fast and accurate, making it suitable for application to large scale data, but it is also sensitive to initialisation, requiring a sufficiently accurate initial guess, and for this reason it is typically used in a coarse-to-fine alignment strategy. == Formulation == The NDT function associated to a point cloud is constructed by partitioning the space in regular cells. For each cell, it is possible to define the mean q = 1 n ∑ i x i {\displaystyle \textstyle \mathbf {q} ={\frac {1}{n}}\sum _{i}\mathbf {x_{i}} } and covariance S = 1 n ∑ i ( x i − q ) ( x i − q ) ⊤ {\displaystyle \textstyle \mathbf {S} ={\frac {1}{n}}\sum _{i}\left(\mathbf {x} _{i}-\mathbf {q} \right)\left(\mathbf {x} _{i}-\mathbf {q} \right)^{\top }} of the n {\displaystyle n} points of the cloud x 1 , … , x n {\displaystyle \mathbf {x} _{1},\dots ,\mathbf {x} _{n}} that fall within the cell. The probability density of sampling a point at a given spatial location x {\displaystyle \mathbf {x} } within the cell is then given by the normal distribution e − 1 2 ( x − q ) ⊤ S − 1 ( x − q ) {\displaystyle e^{-{\frac {1}{2}}\left(\mathbf {x} -\mathbf {q} \right)^{\top }\mathbf {S} ^{-1}\left(\mathbf {x} -\mathbf {q} \right)}} . Two point clouds can be mapped by a Euclidean transformation f {\displaystyle f} with rotation matrix R {\displaystyle \mathbf {R} } and translation vector t {\displaystyle \mathbf {t} } f R , t ( x ) = R x + t {\displaystyle f_{\mathbf {R} ,\mathbf {t} }(\mathbf {x} )=\mathbf {R} \mathbf {x} +\mathbf {t} } that maps from the second cloud to the first, parametrised by the rotation angles and translation components. The algorithm registers the two point clouds by optimising the parameters of the transformation that maps the second cloud to the first, with respect to a loss function based on the NDT of the first point cloud, solving the following problem arg ⁡ min R , t { − ∑ i NDT ⁡ ( f R , t ( x i ) ) } {\displaystyle \arg \min _{\mathbf {R} ,\mathbf {t} }\left\{-\sum _{i}\operatorname {NDT} \left(f_{\mathbf {R} ,\mathbf {t} }\left(\mathbf {x_{i}} \right)\right)\right\}} where the loss function represents the negated likelihood, obtained by applying the transformation to all points in the second cloud and summing the value of the NDT at each transformed point f R , t ( x ) {\displaystyle f_{\mathbf {R} ,\mathbf {t} }(\mathbf {x} )} . The loss is piecewise continuous and differentiable, and can be optimised with gradient-based methods (in the original formulation, the authors use Newton's method). In order to reduce the effect of cell discretisation, a technique consists of partitioning the space into multiple overlapping grids, shifted by half cell size along the spatial directions, and computing the likelihood at a given location as the sum of the NDTs induced by each grid.