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This paper presents an efficient method for rigid registration of 3-D point sets, which intends to match the feature points inspected using touch probe with the points on designed CAD surface. The alignment error is defined as the least square problem, and the sphere radius of the inspection probe is considered. In this framework, the registration problem is converted into acquiring six Euler variables...
In this paper, some key technologies of surface inspection are presented. Based on a robot manipulator, a new radius compensation of spherically tipped touch probe is first discussed, and the calibration algorithm for robot hand to eye is proposed. Different from traditional CMM based approach, the point-set registration is derived as a constrained optimization problem, then some issues concerning...
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