Registration of Point-Set Inspected by Spherical tipped Probe

摘要

This paper presents an efficient method for rigidregistration of 3-D point sets, which intends to match the featurepoints inspected using Vouch probe with the points, on designedCAD surface. The alignment error is defined as the least squareproblem, and the sphere radius of the inspection probe isconsidered. In this framework, the registration problem isconverted into acquiring six Euler variables problem by solvingnonlinear equations. Thus a matrix transformation of parameterseparation is presented to get the approximate resolution.Finally, iterative cycles are provided to calculate the nearestpoints on designed surface corresponding to the inspectionpoints. Experiment verification is realized for the presentedpoint-set registration method of robot inspection system.