A simulação geoestatística por múltiplos pontos é um campo de pesquisa bastante ativo e tem sido aplicada com sucesso na indústria petrolífera. Entretanto, poucos estudos foram direcionados para o seu emprego em depósitos minerais. A simulação multipontual é um método promissor que supera as principais desvantagens dos métodos tradicionais. Por ser um método estocástico, ela gera diversas realizações equiprováveis que permitem a inferência de incertezas. E a integração de mapas de probabilidade local como dados secundários permite que a deficiência das simulações em precisão local seja superada. Além de tudo, diferentemente da krigagem e da simulação clássica, que são baseadas em estatísticas de segunda ordem (bipontuais), a simulação multipontual é capaz de representar estruturas geológicas complexas, ao extrair de training images padrões estatísticos de alta ordem. Nesta dissertação, os contatos litológicos dos envelopes de minério de três depósitos minerais reais e de um depósito sintético foram estimados por krigagem e simulados por um método de simulação tradicional e por um método de simulação multipontual. Constatou-se que a simulação multipontual pode ser facilmente aplicada a depósitos minerais e o desempenho dos três métodos foi comparado em situações de diferentes densidades amostrais. Apesar da melhor adequação teórica da simulação multipontual para a representação de geologias complexas, os resultados obtidos para um depósito complexo foram insatisfatórios. A solução para esse caso pode estar entre os diversos algoritmos de simulação multipontual que têm sido recentemente desenvolvidos. Por outro lado, a aplicação da simulação multipontual nos três depósitos de geologia mais simples foi muito exitosa. Os resultados mostraram contornos geologicamente plausíveis e muito mais definidos do que com os métodos tradicionais. Os modelos gerados foram tão precisos quanto os oriundos de métodos determinísticos e possibilitaram a avaliação de incertezas por meio de uma média de realizações, como qualquer método estocástico. Outra vantagem do método multipontual foi a incorporação de mapas de probabilidade local como dados secundários que permitiram definir a zona de incerteza desejada nos modelos. Todo o procedimento empregado foi descrito e justificado detalhadamente. / Geostatistical multiple-point simulation (MPS) is a very active field of research that has been applied successfully in the oil industry. However, few studies about its application in mineral deposits have been conducted. MPS is a promising method that overcomes the main drawbacks of traditional methods. Because it is a stochastic method, it generates several equiprobable realizations that allow uncertainties inference. And the integration of local probability maps as secondary data allows the lack of local precision in simulations to be overcome. Furthermore, unlike kriging and classical simulation, which are based on second-order (two-point) statistics, a MPS is able to reproduce complex geological features by high-order statistical patterns extraction from training images. In this thesis, ore envelopes lithological contacts of three real mineral deposits and of a synthetic deposit were estimated by kriging and simulated by a traditional simulation method and by a MPS method. It was verified that the MPS can be easily applied to mineral deposits and the performances of the three methods were compared in situations of different sample densities. Despite the theoretical suitability of the MPS for the representation of complex geological structures, the results obtained for a complex deposit were unsatisfactory. The solution for this case may be among the several MPS algorithms that have been recently developed. On the other hand, the application of MPS in the three simple geology deposits was very successful. The results showed geologically plausible contours much more defined than those obtained through the traditional methods. The models created were as accurate as those derived from the deterministic methods and enabled the evaluation of uncertainties by means of a mean of realizations, like any stochastic method. Another advantage of the multiple-point method was the incorporation of local probability maps as secondary data that allowed setting the zone of uncertainty desired in the models. The entire procedure was described and explained in detail.

[pt] Na área de Exploração e Produção (EeP) de petróleo, uma das tarefas mais importantes é o estudo minucioso das características do reservatório para a criação de modelos de simulação que representem adequadamente as suas características. Durante a vida produtiva de um reservatório, o seu modelo de simulação correspondente precisa ser ajustado periodicamente, pois a disponibilidade de um modelo adequado é fundamental para a obtenção de previsões acertadas acerca da produção, e isto impacta diretamente a tomada de decisões gerenciais. O ajuste das propriedades do modelo se traduz em um problema de otimização complexo, onde a quantidade de variáveis envolvidas cresce com o aumento do número de blocos que compõem a malha do modelo de simulação, exigindo muito esforço por parte do especialista. A disponibilidade de uma ferramenta computacional, que possa auxiliar o especialista em parte deste processo, pode ser de grande utilidade tanto para a obtenção de respostas mais rápidas, quanto para a tomada de decisões mais acertadas. Diante disto, este trabalho combina inteligência computacional através de Algoritmo Genético Co-Evolutivo com Geoestatística de Múltiplos Pontos, propondo e implementando uma arquitetura de otimização aplicada ao ajuste de propriedades de modelos de reservatórios. Esta arquitetura diferencia-se das tradicionais abordagens por ser capaz de otimizar, simultaneamente, mais de uma propriedade do modelo de simulação de reservatório. Utilizou-se também, processamento distribuído para explorar o poder computacional paralelo dos algoritmos genéticos. A arquitetura mostrou-se capaz de gerar modelos que ajustam adequadamente as curvas de produção, preservando a consistência e a continuidade geológica do reservatório obtendo, respectivamente, 98 por cento e 97 por cento de redução no erro de ajuste aos dados históricos e de previsão. Para os mapas de porosidade e de permeabilidade, as reduções nos erros foram de 79 por cento e 84 por cento, respectivamente. / [en] In the Exploration and Production (EeP) of oil, one of the most important tasks is the detailed study of the characteristics of the reservoir for the creation of simulation models that adequately represent their characteristics. During the productive life of a reservoir, its corresponding simulation model needs to be adjusted periodically because the availability of an appropriate model is crucial to obtain accurate predictions about the production, and this directly impacts the management decisions. The adjustment of the properties of the model is translated into a complex optimization problem, where the number of variables involved increases with the increase of the number of blocks that make up the mesh of the simulation model, requiring too much effort on the part of a specialist. The availability of a computational tool that can assist the specialist on part of this process can be very useful both for obtaining quicker responses, as for making better decisions. Thus, this work combines computational intelligence through Coevolutionary Genetic Algorithm with Multipoint Geostatistics, proposing and implementing an architecture optimization applied to the tuning properties of reservoir models. This architecture differs from traditional approaches to be able to optimize simultaneously more than one property of the reservoir simulation model. We used also distributed processing to explore the parallel computing power of genetic algorithms. The architecture was capable of generating models that adequately fit the curves of production, preserving the consistency and continuity of the geological reservoir obtaining, respectively, 98 percent and 97 percent of reduction in error of fit to the historical data and forecasting. For porosity and permeability maps, the reductions in errors were 79 percent and 84 percent, respectively.

La vallée de la Komadougou Yobé constitue un site privilégié de recharge de l'aquifère quaternaire du bassin du lac Tchad. Depuis les années 1980, le développement des cultures de rente (p. ex. poivron) a conduit à un doublement des surfaces irriguées (1995-2005) dans sa partie aval. Afin de quantifier la recharge supplémentaire induite, une modélisation des flux hydriques verticaux dans la zone non-saturée (0-8 m) a été engagée. La première étape, objet de ce travail de thèse, consiste à décrire l'organisation spatiale et les propriétés hydrodynamiques des corps sédimentaires constitutifs de l'alluvium.Des forages à travers les formations superficielles mettent en évidence des alternances sable-sable argileux dans la totalité de la zone non-saturée, conséquence des migrations du lit mineur de la Komadougou Yobé. Le calcul de la corrélation entre les forages indique une forte analogie avec les hétérogénéités identifiées en surface à partir de données de télédétection (Landsat 7 binarisée). Ces données sont donc utilisées pour l'apprentissage de statistiques multipoints représentatives des hétérogénéités et un modèle géologique 3D de l'alluvium est généré via l'algorithme snesim.Des suivis neutroniques de l'humidité le long de plusieurs profils caractéristiques des différentes unités sédimentaires associées à ce modèle sont réalisés pour des conditions de flux contrôlées en surface. A partir de simulations numériques 1D, des jeux de paramètres hydrodynamiques permettant de reproduire les humidités mesurées sont déterminés par une approche de type Monte-Carlo. Des densités de probabilité intégrant l'incertitude sur les mesures sont obtenues pour les paramètres de Mualem - van Genuchten décrivant les courbes de rétention et de conductivité hydraulique des sédiments.Une procédure 1D-distribuée est utilisée pour simuler les écoulements non-saturés verticaux au sein de plusieurs réalisations du modèle géologique et pour différents jeux de paramètres hydrodynamiques probables. La recharge diffuse calculée se montre particulièrement sensible au paramètre de pression d'entrée d'air attribué aux dépôts superficiels, siège des principales interactions sol-plante-atmosphère, ainsi qu'aux contrastes verticaux de conductivité hydraulique. / The downstream part of the Komadugu Yobe River is an important recharge area for the Lake Chad Quaternary aquifer. Since the 1980s, cash crop development (e.g. sweet pepper) has led to the doubling (1995-2005) of irrigated surfaces in the vicinity of the river. A modeling approach of vertical water fluxes through the vadose zone (0-8 m) was designed to quantify the related increase in groundwater recharge. The first step, which is the main topic of this PhD thesis, consisted in describing both spatial arrangement and hydrodynamic properties of the sedimentary bodies that make up the alluvium.Boreholes in surficial deposits highlighted sandy to clayey alternations within the whole unsaturated zone; this was interpreted as the result of frequent migrations of the River channel. Spatial correlation between bore logs showed strong similarities with heterogeneities depicted on ground by means of remote sensing data (binarized Landsat 7 image). This data were therefore used to train multiple-point statistics representative of heterogeneities, and a 3D geological model was generated through the snesim algorithm.For each representative sedimentary unit, soil moisture under controlled hydraulic surface conditions was monitored by vertical neutron probe soundings. Using 1D numerical simulations, different data sets of hydrodynamic properties that reproduced moisture measurements were determined by a Monte-Carlo approach. Probability density functions including measurement uncertainties were deduced for the Mualem - van Genuchten parameters which describe both retention and hydraulic conductivity curves.A 1D-distributed procedure was applied for modeling vertical flows in the unsaturated zone within several geological model realizations with different probable sets of hydrodynamics parameters. The simulated diffuse recharge was shown to be particularly sensitive to two main parameters: air-entry pressure linked to superficial deposits, where soil-plant-atmosphere interactions do occur, and vertical hydraulic conductivity contrasts within the alluvium.

Estimativa e simulação baseados na estatística de dois pontos têm sido usadas desde a década de 1960 na análise geoestatístico. Esses métodos dependem do modelo de correlação espacial derivado da bem conhecida função semivariograma. Entretanto, a função semivariograma não pode descrever a heterogeneidade geológica encontrada em depósitos minerais e reservatórios de petróleo. Assim, ao invés de usar a estatística de dois pontos, a geoestatística multi-pontos, baseada em distribuições de probabilidade de múltiplo pontos, tem sido considerada uma alternativa confiável para descrição da heterogeneidade geológica. Nessa tese, o algoritmo multi-ponto é revisado e uma nova solução é proposta. Essa solução é muito melhor que a original, pois evita usar as probabilidades marginais quando um evento que nunca ocorre é encontrado no template. Além disso, para cada realização a zona de incerteza é ressaltada. Uma base de dados sintética foi gerada e usada como imagem de treinamento. A partir dessa base de dados completa, uma amostra com 25 pontos foi extraída. Os resultados mostram que a aproximação proposta proporciona realizações mais confiáveis com zonas de incerteza menores. / Estimation and simulation based on two-point statistics have been used since 1960\'s in geostatistical analysis. These methods depend on the spatial correlation model derived from the well known semivariogram function. However, the semivariogram function cannot describe the geological heterogeneity found in mineral deposits and oil reservoirs. Thus, instead of using two-point statistics, multiple-point geostatistics based on probability distributions of multiple-points has been considered as a reliable alternative for describing the geological heterogeneity. In this thesis, the multiple-point algorithm is revisited and a new solution is proposed. This solution is much better than the former one because it avoids using marginal probabilities when a never occurring event is found in a template. Moreover, for each realization the uncertainty zone is highlighted. A synthetic data base was generated and used as training image. From this exhaustive data set, a sample with 25 points was drawn. Results show that the proposed approach provides more reliable realizations with smaller uncertainty zones.

Estimativa e simulação baseados na estatística de dois pontos têm sido usadas desde a década de 1960 na análise geoestatístico. Esses métodos dependem do modelo de correlação espacial derivado da bem conhecida função semivariograma. Entretanto, a função semivariograma não pode descrever a heterogeneidade geológica encontrada em depósitos minerais e reservatórios de petróleo. Assim, ao invés de usar a estatística de dois pontos, a geoestatística multi-pontos, baseada em distribuições de probabilidade de múltiplo pontos, tem sido considerada uma alternativa confiável para descrição da heterogeneidade geológica. Nessa tese, o algoritmo multi-ponto é revisado e uma nova solução é proposta. Essa solução é muito melhor que a original, pois evita usar as probabilidades marginais quando um evento que nunca ocorre é encontrado no template. Além disso, para cada realização a zona de incerteza é ressaltada. Uma base de dados sintética foi gerada e usada como imagem de treinamento. A partir dessa base de dados completa, uma amostra com 25 pontos foi extraída. Os resultados mostram que a aproximação proposta proporciona realizações mais confiáveis com zonas de incerteza menores. / Estimation and simulation based on two-point statistics have been used since 1960\'s in geostatistical analysis. These methods depend on the spatial correlation model derived from the well known semivariogram function. However, the semivariogram function cannot describe the geological heterogeneity found in mineral deposits and oil reservoirs. Thus, instead of using two-point statistics, multiple-point geostatistics based on probability distributions of multiple-points has been considered as a reliable alternative for describing the geological heterogeneity. In this thesis, the multiple-point algorithm is revisited and a new solution is proposed. This solution is much better than the former one because it avoids using marginal probabilities when a never occurring event is found in a template. Moreover, for each realization the uncertainty zone is highlighted. A synthetic data base was generated and used as training image. From this exhaustive data set, a sample with 25 points was drawn. Results show that the proposed approach provides more reliable realizations with smaller uncertainty zones.

[pt] Neste trabalho, apresentamos dois métodos geostatísticos para modelar estruturas geológicas que exibem características direcionais em uma estrutura de árvore, como leques deltaicos e canais turbidíticos. O primeiro método é um algoritmo geoestatístico multi-ponto chamado simulação baseada em campo de direções (DIR-SIM). A característica direcional da imagem de treinamento é usada para criar um novo objeto que chamamos de campo direcional de treinamento (TDF), que contém a direção em cada ponto da imagem. Este TDF representa a imagem de treinamento em um sentido mais amplo por que tanto a imagem de treinamento quanto a direção seguida pelo reservatório estão contidas nele. Propomos aplicar esse objeto como uma ferramenta fundamental na simulação. O segundo método é uma simulação baseada em objetos chamada SKE-SIM, que usa uma imagem de treinamento para extrair a distribução de parâmetros selecionados para construir o sistema de canais turbidíticos. A idéia baseia-se na premissa de que a imagem de treinamento pode ser bem representada por um objeto unidimensional que chamamos esqueleto. / [en] In this work, we present two geostatistical methods to model geological structures that exhibit directional features in a tree structure, like fan deltas and turbidite channels. The first method is a multiple point geostatistical algorithm called directional field-based simulation (DIR-SIM). The directional feature of the training image is used to create a new object that we call training directional field (TDF), which contains the direction in each point of the image. This TDF represents the training image in a broader sense because both the training image and the direction followed by the reservoir are contained there. We propose to apply this object as a fundamental tool in the simulation. The second method is an object- based simulation called SKE-SIM which uses a training image to extract the distribution of selected parameters to build the turbidite channel system. The idea is based on the premise that the training image can be well represented by a one-dimensional object that we call, skeleton.

Stabilní proteiny nacházejí široké uplatnění v řadě medicínských a biotechnologických aplikacích. Přírodní proteiny se vyvinuly tak, aby fungovaly převážně v mírných podmínkách uvnitř buněk. V důsledku toho vzniká zájem o stabilizaci proteinů za účelem jejich širšího uplatnění také v průmyslovém prostředí. Obor proteinového inženýrství se v posledních letech rozvinul do úrovně umožňující modifikovat proteiny pro různá využití, ačkoliv identifikace stabilních mutací je stále zatížená drahou a časově náročnou experimentální prací. Výpočetní metody se proto uplatňují jako atraktivní alternativa, která dovoluje prioritizovat potenciálně stabilizující mutace pro laboratorní práci. Během posledních let bylo vyvinuto velké množství výpočetních strategií: i) výpočty energie pomocí silových polí, ii) evoluční metody, iii) strojové učení a iv) kombinace více přístupů. Spolehlivost a využití nástrojů jsou často limitovány predikcí pouze jednobodových mutací, které mají malý dopad na stabilitu proteinů, zatímco sofistikovanější metody pro predikci multibodových mutací vyžadují větší množství práce na straně uživatele. Hlavním záměrem této práce je poskytnout uživatelům plně automatizované metody, umožňující návrh vysoce stabilních vícebodových mutantů bez potřeby pokročilých znalostí bioinformatických nástrojů a zkoumaného proteinu. V této práci jsou prezentovány následující nástroje a databáze:  FireProt je plně automatizovaná metoda pro návrh stabilních vícebodových mutantů z kategorie tzv. hybridních přístupů. Ve svém výpočetním jádře spojuje jak energetické tak i evoluční metody, přičemž evoluční informace jsou užívány především jako filtry pro časově náročné výpočty energií. Kromě detekce potenciálně stabilizujících mutací se FireProt rovněž snaží spojit tyto mutace do jednoho vícebodového mutanta s minimalizací rizika vzniku antagonistických efektů. FireProt-ASR je plně automatizovaná platforma pro rekonstrukci ancestrálních sekvencí, která dovoluje uživatelům využít tuto strategii bez nutnosti velkého objemu manuální práce a hluboké znalosti zkoumaného proteinu. FireProt-ASR řeší všechny kroky ancestrální rekonstrukce, včetně sběru biologicky relevantních sekvencí, konstrukce zakořeněného fylogenetického stromu a rekonstrukce ancestrálních sekvencí.HotSpotWizard je nástroj pro návrh mutací a mutačních knihoven za účelem zlepšení stability a aktivity zkoumaných proteinů. Nástroj dovoluje provést i širší analýzu za využití čtyř různých strategií běžně používaných v oboru proteinového inženýrství: i) identifikace evolučně variabilních pozic v blízkosti katalytických kapes a tunelů, ii) identifikace pohyblivých regionů, iii) výpočet sekvenčního konsensu a iv) identifikace korelovaných pozic.FireProt-DB je databáze dostupných experimentálních dat popisujících stabilitu proteinů. Hlavním účelem této databáze je standardizovat data v oblasti proteinové stability, poskytnout uživatelům platformu k jejich snadnému ukládání a umožnit intuitivní vyhledávání, které by mohly být využité k trénování nových nástrojů s využitím technik strojového učení.

[pt] A modelagem de reservatórios consiste em uma tarefa de muita relevância na medida em que permite a representação de uma dada região geológica de interesse. Dada a incerteza envolvida no processo, deseja-se gerar uma grande quantidade de cenários possíveis para se determinar aquele que melhor representa essa região. Há, então, uma forte demanda de se gerar rapidamente cada simulação. Desde a sua origem, diversas metodologias foram propostas para esse propósito e, nas últimas duas décadas, Multiple-Point Geostatistics (MPS) passou a ser a dominante. Essa metodologia é fortemente baseada no conceito de imagem de treinamento (TI) e no uso de suas características, que são denominadas de padrões. No presente trabalho, é proposto um novo método de MPS que combina a aplicação de dois conceitos-chave: a técnica denominada Locality Sensitive Hashing (LSH), que permite a aceleração da busca por padrões similares a um dado objetivo; e a técnica de compressão Run-Length Encoding (RLE), utilizada para acelerar o cálculo da similaridade de Hamming. Foram realizados experimentos com imagens de treinamento tanto categóricas quanto contínuas que evidenciaram que o LSHSIM é computacionalmente eficiente e produz realizações de boa qualidade, enquanto gera um espaço de incerteza de tamanho razoável. Em particular, para dados categóricos, os resultados sugerem que o LSHSIM é mais rápido do que o MS-CCSIM, que corresponde a um dos métodos componentes do estado-da-arte. / [en] Reservoir modeling is a very important task that permits the representation of a geological region of interest. Given the uncertainty involved in the process, one wants to generate a considerable number of possible scenarios so as to find those which best represent this region. Then, there is a strong demand for quickly generating each simulation. Since its inception, many methodologies have been proposed for this purpose and, in the last two decades, multiple-point geostatistics (MPS) has been the dominant one. This methodology is strongly based on the concept of training image (TI) and the use of its characteristics, which are called patterns. In this work, we propose a new MPS method that combines the application of a technique called Locality Sensitive Hashing (LSH), which permits to accelerate the search for patterns similar to a target one, with a Run-Length Encoding (RLE) compression technique that speeds up the calculation of the Hamming similarity. We have performed experiments with both categorical and continuous images which showed that LSHSIM is computationally efficient and produce good quality realizations, while achieving a reasonable space of uncertainty. In particular, for categorical data, the results suggest that LSHSIM is faster than MS-CCSIM, one of the state-of-the-art methods.

The present work studies instantaneous motion of smooth planar and spatial objects in unilateral point contacts. The traditional first-order instantaneous kinematic analysis is found insufficient to explain many common physical scenarios. The present work looks beyond the velocity state of motion for a comprehensive understanding through higher-order kinematic analysis of the above system. The methodology proposed herein is a Euclidean space approach to second-order motion space analysis of objects in point contacts. The geometries of the objects are approximated up to second-order in the differential vicinity of the point of contact; meaning, up to curvature at the point of contact. The instantaneous motion is approximated up to second-order kinematics, i.e., up to acceleration state. The basic approach consists of impressing an instantaneous motion upon one object while holding the other fixed which is in a single point contact initially, and observing for one of the following three states: penetration, separation, and persistence of contact between the two objects. These three states are characterized by the interference between the geometries of the objects. Penetration and separation of two curves for rotation about points on the plane is geometrically studied based on the relative configuration of the osculating circles at the point of contact. It is shown that the plane is partitioned into four regions of rotation centers. Partitioning of the plane into motion space regions at a contact provided a geometrical framework compose the motion space for multiple contacts. The applications include second-order form-closure (SFC) and synthesis of kinematic pairs. To explore the consequence of a generic motion, an analytical scheme is formulated using the screw theoretic concepts of twist and twist-derivative. It is shown that the characteristics of second-order motions at a single contact depends only upon the geometric kinematic properties of the motion; meaning, the motion characteristics are time-independent. The geometric conditions for the second-order motion that will be admissible or restrained at a contact are not available in the existing literature on \second-order mobility". The classical Euler-Savary equation for enveloping curves is found to represent the condition which is both necessary and sufficient for the second-order roll-slide motion. An elegant generalized geometric characterization of second-order motions is derived. This is made use for deriving condition of immobilization of, planar mechanisms with up to 2-degrees-of-freedom (d.o.f.), with a single point contact. Illustrative examples of four-bar and 2R-mechanisms are presented. Rapid prototyped model of the four-bar mechanism is fabricated and the SFC theory is verified satisfactorily. Through a novel use of Meusnier's theorem, rotational motion characteristics of planar curves in a point contact is used to determine the patterns and distribution of admissible axes of rotation in space for two surfaces in a single point contact. In the generalized analytical method of motion space analysis, the surfaces are locally represented in Monge's form up to second-order terms and motion is represented using twist and twist-derivative. An analytical framework for the second-order motion space analysis of surfaces with multiple contacts has been developed. Using this procedure, pairs of objects are analyzed for SFC and equivalent lower kinematic pair freedom. Revolute and planar joints with two contacts, prismatic joint with three contacts, SFC of regular concave spherical tetrahedron and regular tetrahedron with four contacts are demonstrated. Although conventional first-order studies demand seven contact points for form-closure, within the context of second-order motion, the present study established that, under special geometric conditions relative immobilization of two smooth objects can be enabled with much fewer contacts. Conditions for immobilization using three and two smooth contacts have been derived. Using contact kinematics equations based on higher-order reciprocity, an instantaneous spatial higher pair to lower pair substitute-connection which is kinematically equivalent up to acceleration analysis for two smooth surfaces in persistent point contact is derived. An illustrative example of a three-link direct-contact mechanism is presented.

When a Time-of-Flight (ToF) depth camera is used to monitor a region of interest, it has to be mounted correctly and have information regarding its position. Manual configuration currently require managing captured 3D ToF data in a 2D environment, which limits the user and might give rise to errors due to misinterpretation of the data. This thesis investigates if a real time 3D reconstruction mesh from a Microsoft HoloLens can be used as a target for point cloud registration using the ToF data, thus configuring the camera autonomously. Three registration algorithms, Fast Global Registration (FGR), Joint Registration Multiple Point Clouds (JR-MPC) and Prerejective RANSAC, were evaluated for this purpose. It was concluded that despite using different sensors it is possible to perform accurate registration. Also, it was shown that the registration can be done accurately within a reasonable time, compared with the inherent time to perform 3D reconstruction on the Hololens. All algorithms could solve the problem, but it was concluded that FGR provided the most satisfying results, though requiring several constraints on the data.