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This paper aims to propose a robust method for non-rigid point set registration, using the Gaussian mixture model and accommodating non-rigid transformations. The posterior probabilities of the mixture model are determined through the proposed integrated feature divergence.

The method involves an alternating two-step framework, comprising correspondence estimation and subsequent transformation updating. For correspondence estimation, integrated feature divergences including both global and local features, are coupled with deterministic annealing to address the non-convexity problem of registration. For transformation updating, the expectation-maximization iteration scheme is introduced to iteratively refine correspondence and transformation estimation until convergence.

The experiments confirm that the proposed registration approach exhibits remarkable robustness on deformation, noise, outliers and occlusion for both 2D and 3D point clouds. Furthermore, the proposed method outperforms existing analogous algorithms in terms of time complexity. Application of stabilizing and securing intermodal containers loaded on ships is performed. The results demonstrate that the proposed registration framework exhibits excellent adaptability for real-scan point clouds, and achieves comparatively superior alignments in a shorter time.

The integrated feature divergence, involving both global and local information of points, is proven to be an effective indicator for measuring the reliability of point correspondences. This inclusion prevents premature convergence, resulting in more robust registration results for our proposed method. Simultaneously, the total operating time is reduced due to a lower number of iterations.

Paramedics became nationally registered in 2018 in Australia. Prior to this, there was no central regulation of the profession with reliance on organisational regulation through employers. As paramedics expanded their scope, role and range of employers, especially outside statutory agencies, there was increasing need to engage in professional regulation. Regulation is more than a legal and bureaucratic framework. The purpose of the paper states that the way paramedics interact with their new regulatory environment impacts and is influenced by the professionalisation of the discipline. Regulation also redefines their positionality within the profession.

Two mixed-method surveys were undertaken. A pre-registration survey occurred in the month prior to regulation commencing (N = 419) followed by the second survey 31 months later (N = 407). This paper reports the analysis of qualitative data from the post-registration survey and provides comparison to the pre-registration survey which has been previously reported. Analysis was undertaken using interpretive phenomenological analysis (IPA).

Themes from the pre-registration survey continued however became more nuanced. Participants broadly supported registration and saw it as empowering to the profession. Some supported registration but were disappointed by its outcome, others rejected registration and saw it as divisive and oppressive.

Paramedics are beginning to come to terms with increasing professionalisation, of which regulation is one component. Changes can be seen in professional identity and engagement with professional practice; however, this is nascent and is deserving of additional research to track the profession as it continues to evolve.

There is a long-standing debate about the relationship between land title registration and tenure security. Studies in the developing world point to a tenuous link between land registration and stable land tenure. The reason why people continue to register therefore becomes a mystery if tenure security is not entirely assured. This article focuses on the increase in property value as one such factor that induces title registration. Previous studies have quantified the economic impact of title registration on property values. However, the impact varies from city or country to another. The authors seek to investigate the extent of property value increment in Accra attributable to land title registration.

The authors statistically analyzed a data set from two institutions (First National Bank and the Lands Commission) in Ghana using a quantitative technique.

The authors discovered that, holding all other factors constant, the value of the land in Accra increases by 22.6% due to land title registration. This shows that lessees must register to enhance property values, even though the essential due diligence must be done to make sure the acquisition is free from liens and legal disputes.

This article highlights the implication of the findings for land administration as well as the practice of property valuation, development and brokerage in Ghana and Global South more broadly.

This is one of the first studies in Ghana to investigate the specific premium that housing markets put on land title registration.

Starting from intention–behaviour models and building upon the growing evidence that aggregated internet search query data represent a good proxy of human interests and intentions. The purpose of this study is to demonstrate that the internet search traffic information related to the selected key terms associated with establishing new businesses, reflects well the dynamics of entrepreneurial activity in a country and can be used for predicting entrepreneurial activity at the national level.

Theoretical framework is based on intention–behaviour models and supported by the knowledge spillover theory of entrepreneurship. Monthly data on new business registration from 2018 to 2021 is derived from the open database of the Russian Federal Tax Service. Terms of internet search interest are identified through interviews with the recent founders of new businesses, whereas the internet search query statistics on the identified terms are obtained from Google Trends and Yandex Wordstat.

The results suggest that aggregated data about web searches related to opening a new business in a country is positively correlated with the dynamics of entrepreneurial activity in the country and, as such, may be useful for predicting the level of that activity.

The results may serve as a starting point for a new approach to measure, monitor and predict entrepreneurial activities in a country and can help in better addressing policymaking issues related to entrepreneurship.

To the best of the authors’ knowledge, this study is original in its approach and results. Building on intention–behaviour models, this study outlines, to the best of the authors’ knowledge, the first usage of big data for analysing the intention–behaviour relationship in entrepreneurship. This study also contributes to the ongoing debate about the value of big data for entrepreneurship research by proposing and demonstrating the credibility of internet search query data as a novel source of quality data in analysing and predicting a country’s entrepreneurial activity.

This research aims at explaining the phenomenon of the “black children” (heihaizi), a very little-known generation who lived with concealment under the one-child policy in China. The one-child policy was officially introduced to nationwide at the end of 1979 by permitting per couple to have one child only, later modified to a second child allowed if the first was a girl in rural China in 1984. It was officially replaced by a nation-wide two-child policy and most existing research focused on the parents’ sufferings and policy changes. The term “black children” has been mainly used to describe their absence from their family hukou registration and education. However, this research aims at expanding the meaning of being “black” to explain the children who were concealed more than at the level of family formal registration, but also physical freedom and emotional bond. What we do not yet know are the details of their lived experiences from a day-to-day base: where did they live? How were they raised up? Who were involved? Who benefited from it and who did not? In this way, this research challenges the existing scholarship on the one-child policy and repositions the “black children” as primary victims, and reveals the family as a key figure in co-producing their diminished status with the support of state power. It is very important to understand these children’s loss of citizenship and human freedom from the inside of the family because they were concealed in so many ways away from public view and interventions. This research focuses on illustrating how their lack of access to continued, stabilized, and reciprocally recognized family interactions framed their very idea of self-worth and identity.

Autonomous mobile robots (AMRs) play a crucial role in industrial and service fields. The paper aims to build a LiDAR-based simultaneous localization and mapping (SLAM) system used by AMRs to overcome challenges in dynamic and changing environments.

This research introduces SLAM-RAMU, a lifelong SLAM system that addresses these challenges by providing precise and consistent relocalization and autonomous map updating (RAMU). During the mapping process, local odometry is obtained using iterative error state Kalman filtering, while back-end loop detection and global pose graph optimization are used for accurate trajectory correction. In addition, a fast point cloud segmentation module is incorporated to robustly distinguish between floor, walls and roof in the environment. The segmented point clouds are then used to generate a 2.5D grid map, with particular emphasis on floor detection to filter the prior map and eliminate dynamic artifacts. In the positioning process, an initial pose alignment method is designed, which combines 2D branch-and-bound search with 3D iterative closest point registration. This method ensures high accuracy even in scenes with similar characteristics. Subsequently, scan-to-map registration is performed using the segmented point cloud on the prior map. The system also includes a map updating module that takes into account historical point cloud segmentation results. It selectively incorporates or excludes new point cloud data to ensure consistent reflection of the real environment in the map.

The performance of the SLAM-RAMU system was evaluated in real-world environments and compared against state-of-the-art (SOTA) methods. The results demonstrate that SLAM-RAMU achieves higher mapping quality and relocalization accuracy and exhibits robustness against dynamic obstacles and environmental changes.

Compared to other SOTA methods in simulation and real environments, SLAM-RAMU showed higher mapping quality, faster initial aligning speed and higher repeated localization accuracy.

This paper analyses the establishment and evolution of a public oversight body (POB) – the Egyptian Audit Oversight Unit (AOU) – and its implications for local auditing firms and practices.

Primary data were gathered from 34 semi-structured interviews (including follow-up ones) between 2014 and 2020. Secondary data was obtained through publicly available documents and internal memos. Drawing on Debord's (1967) Society of the Spectacle, the insights focus on the POB's conception, materialisation and evolution in a context characterised by weak regulatory structures.

Through a series of acts, the findings reveal how the AOU first accepted the image of “international best practice” oversight (the “metaphorical”), followed by the construction of the local structure and décor replicating a United States (US) style POB archetype (the “transformational”) by primarily relying on visible processes/procedures. Yet, these mechanisms emphasised the spectacular nature of oversight, with little improvement for practice and limiting itself to “cracking down” on smaller local firms. A final stage (the “performative”) reveals how the AOU seeks to expand its activities beyond its original mandate without challenging the image-driven nature of its oversight.

The paper offers two key contributions. First, it reveals how actors, through a combination of symbolic and tangible measures, create a new performative reality of public oversight. Second, it advocates Debord's “spectacle” to complement other theoretical lenses, with a view to illuminating the materialisation stages that bridge the gap between proclaimed oversight policies and actual practices (including conscious and unconscious omissions) within a given political economy context.