The registration mark problem is defined, as follows. Given an n-sided rigid planar polygonal part and a set of k planar geometric transforms, locate a point on the surface of the part that maximizes the minimum distance between transformed points. A registration mark at this point will be maximally robust to sensor imperfections. An O(n log/sup 2/k+k/sup 4/ log k log*k) time algorithm for solving this planar problem is given, and the result is demonstrated using the Image-Calc vision system. The results extend to curved planar parts and polyhedral parts. How part shape can be redesigned to simplify localization is considered. In essence, it is shown how to design the surface of a part to facilitate automated assembly.
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机译：定义注册商标问题的方法如下。给定一个n边刚性平面多边形零件和一组k个平面几何变换，在零件表面上定位一个使变换点之间的最小距离最大的点。此时的对准标记将对传感器缺陷具有最大的鲁棒性。给出了解决该平面问题的O（n log / sup 2 / k + k / sup 4 / log k log * k）时间算法，并使用Image-Calc视觉系统演示了结果。结果扩展到弯曲的平面部分和多面体部分。考虑如何重新设计零件形状以简化定位。本质上，它显示了如何设计零件的表面以促进自动化组装。
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