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URL title: Hessian matrix is singular
URL description: hessian matrix is singular, sian matrix of the shape matching energy. Computing the Hessian matrix cor-rectly, and stably, is the key to more broadly application of shape matching in implicitly-integrated systems. 2 Shape Matching Energy for Point Cloud Given the world-space positions of the r-th vertex on the object as qr, and its local coordinate of the rest pose as q0
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