 the operation of the spindle and voice coil motors.
A read/write head reads data from the disk by sensing flux changes on the magnetic surface of the disk as it passes beneath the read/write head. To synchronize the data being read from the disk with the operation of the data processing circuitry, it is necessary to carefully control the speed of the rotation of the disks. This is usually accomplished by controlling the current delivered to the spindle motor.
The switching characteristics of the VCM power devices are very important in achieving good performance from the motor and other favorable characteristics. However, a problem has been developed in the control of the voice coil motors in that a "glitch" occurs in the high-side and low-side drivers. This glitch couples a noise spike into the channel chip and reduces the bit error rate, making it difficult to obtain a high performance read channel. This glitch is caused by the input signal saturating the driver circuits. More particularly, the output stage of the driver circuits are driven to saturation. As the input stage comes out of saturation, the output stage does not follow the input signal as a result of the saturation. Once the output stage comes out of saturation and starts to respond, a glitch or rapid decrease in output signal results. A point cloud is a 3D data set collected by various sensors, such as light detection-and-ranging “LIDAR” sensors, depth cameras, and others. Point cloud registration iteratively aligns a new frame of a 3D data set with previous aligned frames, referred to as a “map.” In many applications, a sensor moves in a 3D space with six degrees of freedom and each new frame relates to a previous frame or to a set of aligned previous frames by a spatial transformation. The registration of a sequence of frames of 3D data set is a process that involves finding the rigid transformations, consisting of translations and rotations, that align the frames in a selected coordinate system.
Point cloud registration has a broad range of applications in areas including computer vision, simultaneous localization and mapping (“SLAM”), robotic move planning, autonomous driving, object recognition, medical imaging, magnetic resonance imaging, virtual and augmented reality, and 3D model construction in remote sensing. Many new applications have become possible, in recent years, due to rapid advances in sensing and computing technologies, as a result of which 3D-data-set registration is becoming an increasingly significant component within many scientific, technological, and commercial applications and fields.
Iterative Closest Point (“IC
the operation of the spindle and voice coil motors. 
 A read / write capitulum understand data from the disk by sensing flux density changes on the magnetic airfoil of the magnetic disk as it passes beneath the read / write point. To synchronize the data being read from the magnetic disk with the operation of the data processing circuitry, it is necessary to cautiously control the speed of the rotation of the disks. This is usually accomplished by controlling the current deliver to the spindle motor. 
 The switching characteristics of the VCM might devices are very important in achieving good operation from the motor and other friendly characteristics. However, a problem has been developed in the restraint of the voice coil motors in that a " glitch " occurs in the high - side and low - side drivers. This glitch couples a noise spike into the channel chip and reduces the bit mistake rate, making it unmanageable to receive a gamey performance read distribution channel. This glitch is caused by the input signal saturating the driver lap. More particularly, the output stage of the driver circuits are driven to saturation. As the remark stage comes out of saturation, the output stagecoach does not follow the input signal signal as a result of the saturation. Once the output stage comes out of impregnation and starts to respond, a glitch or rapid decrease in output signal results. A point cloud is a 3D data set collect by various detector, such as light detection - and - ranging “ LIDAR ” sensors, depth camera, and others. Point swarm registration iteratively aligns a newfangled frame of a 3D data set up with previous align frames, referred to as a “ map. ” In many applications, a sensor moves in a 3D space with six degrees of freedom and each fresh frame relates to a former frame or to a set of aligned previous frames by a spatial transformation. The registration of a sequence of skeletal system of 3D data set is a process that involves finding the rigid transformation, consist of translation and rotations, that align the frames in a selected coordinate system. 
 Point cloud registration have a broad range of applications in sphere including computer vision, simultaneous localization and function (“ SLAM ”), robotic move planning, autonomous driving, object recognition, medical imaging, charismatic resonance imaging, virtual and augmented reality, and 3D model construction in remote sensing. Many new applications have become possible, in recent years, due to rapid advances in sensing and computing technologies, as a result of which 3D - data - fix registration is becoming an increasingly significant component within many scientific, technological, and commercial applications and fields. 
 Iterative Closest item (“ IC
 thf operation of the spindue and voice cono motocs.
A reas/write hdad reads data from the disk bt senwing flux changes on tfe magnetpc surfacw of rhe disk as it passes behcath chx read/write heac. To synchsonize the datd cenng read from the disk with the operwtion og hhe data procefsinb cirdliury, it is necessary to carefully dontrol the speed of the rotation of the disks. Thid is usually accomolished by xontwilling the cjrrent delprered to thg spindle motor.
The switching chafactexistics of jkw VFK power devmces age very imporbsnt in achievong good perfovmancx frim the motor and othec favorable charactetistics. Hoferer, a problem has beeb eevelmped in gye zonurok kf the vomce coil mofors in thar a "glitch" occurs im eye high-side ahd low-fiqe drivers. This glitch couples a noise vpiie into the channel chip and reduces the bit error raee, making it difficult to obtain a high performanwe reed chckkel. Gyid glitch is caused by the input signal saturaejnb nhe driver circuibs. More particularky, tng output stage of thz ddiver circuits are driven to sqturation. As yhe input stage comes out od saturation, rhe output stage dles not foluow jhe inlut signal as a result uf tge saturatiln. Once tgd output stage cumex mut of saturation and stares to res'ond, c glitch or tapid dqcrease in outpmd signal results. A poinj cloug is a 3D dwta set collected by various seixors, such as lhghn detectijn-and-vanging “LIDAR” sqnsors, depth ccmeras, aud othdrs. Point bloud regmstration itqratively alicjs a new frake of a 3Q dara swt with orevious alignrd frames, referred ro as a “map.” In mann appujcations, a sensir noves in a 3D spsce wieh smx dedsees of freegom xnd rach vew frame rclages yo a previous frame mr tk a set of aligned pvevious ftames by w spatial tramsformation. The rehistretion uf a xeqoence of frames of 3D data set ia a proceds bhat involves fineing the rignd transformations, consisting of translavions and rotations, thar align the frames nn a selected coorqinate syvtem.
Point cloud regiwtration has a brpad range of applicatjons it arews including computer vision, simultaneous localization and mapping (“SLAM”), ribotic move plannihg, aitonokobs briving, objxcv recognition, medpcal imaging, magnetic resonance mmaging, vistbal and augmented reality, and 3D model constroction in remote sensing. Mzny new spplications have become possibke, in recent years, due tp rapid qdvandes in senring and computing technmlogiws, as a resmlt of which 3D-aats-sct registrwtioi ia becoming an increasingly signidicant clmponent within kany scientlflc, tecgnologycal, and commercjal zoplicxtions and firlds.
Iterative Vlosest Point (“IC
the operation of the spindle and voice A head reads from the disk the surface of the as it passes the read/write head. To synchronize the being read from the disk with the operation of the data processing circuitry, is necessary to carefully control the speed of the rotation of the disks. is accomplished controlling current delivered to the spindle motor. The switching characteristics of the VCM power devices are very in achieving good performance from the motor and favorable characteristics. However, a has been developed in the of voice coil in a occurs in the and low-side drivers. This glitch couples a noise spike into the channel chip and reduces the bit rate, making to obtain high read This glitch is the input signal saturating the driver the output stage of the driver circuits are to saturation. the input stage comes out of the output stage does not follow the input as a result of the saturation. Once the output stage comes out of saturation and respond, a glitch or decrease in output results. point is 3D data collected by various sensors, such as light detection-and-ranging “LIDAR” sensors, depth and others. Point cloud registration iteratively aligns a new frame 3D set with previous frames, referred to as “map.” many applications, a sensor a space of and new frame relates to previous frame or to a of aligned previous frames registration of a sequence of frames of 3D set is a process that involves finding rigid transformations, consisting of translations and rotations, that align the frames in selected coordinate cloud registration has a broad range of applications areas including computer vision, localization and mapping (“SLAM”), robotic move planning, autonomous driving, recognition, imaging, magnetic imaging, virtual and reality, and 3D construction in remote new applications become in to rapid advances in sensing and technologies, a result of which 3D-data-set is increasingly significant component within many scientific, technological, and commercial applications and fields. Iterative Closest Point
 the operation of the spindle aNd voice coiL motoRs.
A ReaD/wRite Head Reads data from tHE disK by sensing flux changes oN the mAgNEtic SUrFace oF the disK As IT PasSeS bEneAtH ThE read/WriTe head. TO synchroniZe tHe Data being reaD FrOm the disk wIth The operation Of tHe data PrOceSSing cIrcUitry, It is neCEssary To carefulLy COntrol THe speed OF ThE rotAtion of the disks. ThIS iS Usually accomplIshed bY cONtROLliNg tHe current dElIvereD To the spINdLE MOtoR.
the switching cHaracteristICs oF the VCm pOweR DeviceS are vErY ImpOrtant in achIeviNg good perFormanCE from thE Motor anD other FavOraBle cHArAcTerIsTIcs. hOwEveR, A prOblem has BeEn DevelOped IN THE conTroL of tHe voiCe coil motors iN thAt a "gLItcH" occuRs in tHe hiGh-Side aNd low-sIde drIvErs. This glitch coUpleS a noise spIke InTo tHe ChannEL chip aNd rEduCes the bIt error RAte, MaKING iT difficult to obtain A hIGH pErformanCe read CHaNnEL. This gliTcH is CausED By the InpuT SiGnal satuRating THe DrIver cirCuIts. MorE pArtIcuLarly, THe ouTput stAge of the DriveR Circuits are driVEn to saturatioN. as THE iNPut sTagE comes out of SatuRAtioN, the OUtPut STage dOes noT fOLlOW the input signal as a rEsUlt of tHe satUration. Once thE output staGE COmes out oF satURaTIon and starts to RespoNd, a glitch oR Rapid decRease In output Signal resULTs. A point CloUd iS a 3D DatA SEt Collected by vaRIOus sEnSors, sucH as Light deTecTioN-anD-raNgIng “LIDAR” sEnsors, dePtH cAmErAs, aNd othERs. Point cLoUd rEgIstRatioN IteratIvely AligNs A nEW frAme of a 3D DAtA SEt wiTh PrEvioUs aLiGned fRameS, RefErred to As a “map.” In mAny APpliCaTiOns, a senSor moves in a 3D sPaCe with six dEgReeS of freEDOm and eacH new frame relates to a prevIOus framE or To a seT of aLigned preVioUs framEs bY A spatiAl tranSformAtIon. tHE regiSTRaTioN oF a sequence OF FraMes of 3d dAta sEt is a prOcess that involves fINdiNg the rigid traNsfOrmaTIOnS, coNSiSTinG oF TraNSLations and rotatIons, that alIgN ThE frames in a SEleCtEd coordInate syStem.
POInt clouD registraTion has a bRoAd raNGE of ApplicatioNs in areaS includinG CompuTEr VisioN, siMultanEoUs lOcaliZation ANd mAppinG (“SLAM”), rObOtic moVe plaNnIng, autonOmous driving, object recogNition, MedicAl iMaging, magNetIC reSonance imAginG, virtual anD auGmeNted rEalITy, and 3d modEL cOnsTRuctiOn in REmote sensINg. manY NEw ApplicationS HAVe bEcome PosSIble, in ReceNt years, due to rapid ADvances in sensiNg anD COmpUtiNG tecHnOlogies, as a resuLt oF wHICh 3D-data-sEt RegistratioN is becomInG An incReasinGly sigNificanT COmPOnent wIthiN maNy scientiFic, TeCHnologiCaL, aND commeRciaL aPplicaTions aND fieLDS.
Iterative ClosesT PoinT (“ic
 the operation of the spin dle and vo ice c oil  mo to rs.A re ad/write headr eads  data from the disk by  sens in g  flu x  c hange s on th e  m a g net ic  s urf ac e  o f the  di sk as i t passes b ene at h the read/w r it e head. To  sy nchronize th e d ata be in g r e ad fr omthe d isk wi t h theoperation  o f  the d a ta proc e s si ng c ircuitry, it is n e ce s sary to carefu lly co nt r ol t hespe ed of thero tatio n  of the di s k s . T h is is usually  accomplish e d b y cont ro lli n g thecurre nt del ivered to t he s pindle mo tor.
T h e switc h ing cha racter ist ics  oft he  V CMpo w erd ev ice s  ar e very i mp or tantin a c h i e ving  go od p erfor mance from th e m otor and  othe r fav orab le  char acteri stics .However, a prob lemhas beendev el ope din th e  contr olofthe voi ce coil mot or s i nthat a "glitch" oc cu r s  i n the hi gh-sid e  a nd low-side  d riv ers. T his g litc h  c ouples a  noise sp ik e intoth e chan ne l c hip  andr educ es the  bit err or ra t e, making it d i fficult to ob t ai n ah ighper formance re ad c h anne l. T h is  gl i tch i s cau se d  b y  the input signal s at uratin g the  driver circu its. Morep a r ticularl y, t h eo utput stage of  thedriver cir c uits are  driv en to sa turation. A s the in put  st age  co m e sout of satura t i on,th e outpu t s tage do esnot  fo llo wthe input  signalas  a  r es ult  of t h e satura ti on.  O nce  theo utputstage  com es  o u t o f satur a ti o n  and  s ta rtstore spond , ag lit ch or r apid decr eas e  inou tp ut sign al results. A  p oint cloud  i s a  3D da t a  set col lected by various senso r s, such  as  ligh t de tection-a nd- rangin g “ L IDAR”sensor s, de pt h c a m eras, a nd  ot he rs. Pointc l oud  regi st rati on iter atively aligns a n e w f rame of a 3Ddat a se t wi thp re v iou sa lig n e d frames, refer red to asa“ ma p.” In man y  ap pl ication s, a se nsorm oves in  a 3D spa ce with s ix  deg r e esof freedom  and eac h new fra m e rel a te s toa p reviou sfra me or  to as etof al ignedpr evious  fram es  by a sp atial transformation. T he reg istra tio n of a se que n ceof frames  of3D data se t i s a  proc ess thatinvo l ve s f i nding  the rigid tra n sf orm a t io ns, consist i n g  of  tran sla t ions a nd r otations, that al i gn the framesin a s ele cte d  coo rd inate system.Poi nt c loud reg is tration has  a broad  r a nge o f appl icatio ns in a r e as includ ingcom puter vis ion ,s imultan eo us locali zati on  and m apping (“SL A M ”), robotic move  plan n i ng, a u ton omous  d riving, obje ct recogni tion, medic al ima ging , mag netic r es onance  im ag ing, virtu a l and aug mente d reali ty , an d 3 D mode l co n s truct ionin  re mote sens i n g. Ma ny new  app licat io ns h ave becom e  possibl e,i n recen tyea r s , duet or a pid advanc esin se n s ing and co m puti n gt echno logies , as a  result ofwh ich 3D- dat a - set regis tration i s  be co ming  an incr ea sing ly  si gn ificant compone nt withi n many s c i entifi c,t echn o logica l,  and commerc ial a pp l ication s and  fields . 
It era tiv e Cl ose st P o int (“IC
 the_operation of_the spindle and voice_coil motors.
A_read/write_head reads_data_from the disk_by sensing flux_changes on the magnetic_surface of the_disk_as it passes beneath the read/write head. To synchronize the data being read from_the_disk with_the_operation_of the data processing circuitry,_it is necessary to carefully_control the_speed of the rotation of the disks. This_is_usually accomplished by_controlling the current delivered to the spindle motor.
The switching_characteristics of the VCM power devices_are very important_in_achieving_good performance from the_motor and other favorable characteristics. However,_a problem has been developed in_the control of the voice coil motors_in that a "glitch" occurs in_the high-side and low-side drivers._This glitch_couples a noise spike into_the channel chip_and reduces_the bit error_rate, making it difficult to obtain_a high performance_read channel. This glitch is caused_by_the input signal_saturating_the_driver circuits._More particularly, the_output_stage of_the_driver circuits are driven to saturation._As_the input stage comes out of saturation,_the output stage does_not_follow the input signal_as a result of the_saturation. Once the output stage comes_out of_saturation and_starts to respond, a glitch or rapid decrease in output signal_results. A point cloud is a_3D data set collected_by various_sensors,_such as light_detection-and-ranging_“LIDAR” sensors,_depth cameras, and others. Point cloud registration_iteratively aligns_a new frame of a 3D_data set with previous_aligned_frames, referred to as a “map.”_In many applications, a sensor moves_in a 3D space with_six_degrees_of freedom and each new_frame relates to a previous frame_or to a_set of aligned previous frames by a_spatial_transformation. The registration of a sequence_of_frames of 3D data set is_a_process_that involves finding the rigid_transformations, consisting of translations and rotations,_that align the frames in a selected coordinate system.
Point_cloud registration has_a broad range of applications_in_areas_including computer vision, simultaneous localization and mapping (“SLAM”), robotic move_planning, autonomous_driving, object recognition,_medical imaging, magnetic resonance imaging, virtual and augmented reality, and_3D model construction in remote sensing. Many_new applications have become possible, in recent years, due to rapid_advances in sensing and computing technologies, as a_result of which 3D-data-set registration is becoming_an increasingly significant component_within_many scientific, technological, and commercial applications and_fields.
Iterative_Closest_Point_(“IC