A probe-aware registration method reformulates contact registration as complementary-shape docking and combines 3D FFT correlation with Lie-algebra SE(3) refinement to reach sub-0.04 mm / sub-0.4° accuracy in simulation and 0.42 mm / 3.75° on a tooth-preparation robot without external sensors.
Geometric algorithms for workpiece localization,
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From swept contact to pose: Probe-aware registration via complementary-shape docking
A probe-aware registration method reformulates contact registration as complementary-shape docking and combines 3D FFT correlation with Lie-algebra SE(3) refinement to reach sub-0.04 mm / sub-0.4° accuracy in simulation and 0.42 mm / 3.75° on a tooth-preparation robot without external sensors.