This paper investigates the use of Euclidean invariants in the iterative closest point registration of range images. Invariants are used in a modified distance function for the selection of point correspondences. Theoretical results show that under ideal conditions, using invariants can only improve the chance of a making correct correspondences. In addition, monotonic convergence to a local minimum is preserved. Experimental results show that using invariant features accelerates the registration and decreases the probability of being trapped in a local minimum.
This paper presents a new generic MEMS packaging technology for thermal and vibration isolation of a MEMS device using an isolation platform crab-leg shaped isolation suspension beams, fabricated from a 100µm-thick glass wafer. The packaging technology is both hermetic and vacuum compatible to pressures <10mTorr, and it provides vertical feedthroughs for signal transfer. A new and generic MEMS die transfer/assembly technique is also developed that can handle a wide variety of individual MEMS chips or wafers, in either a hybrid or integrated fashion. A silicon die with a heater and temperature sensor was fabricated, transferred, and packaged to demonstrate the feasibility of the proposed method. A measured thermal impedance of 3000K/W and feedthrough contact resistance of less than 2Ω has been demonstrated with this package.
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