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Improving Rigid-Body Registration Based on Points Affected by Bias and Noise



Marek Franaszek, Geraldine S. Cheok


The task of registering two coordinate frames is frequently accomplished by measuring the same set of points in both frames. Noise and possible bias in the measured locations degrade the quality of registration. It was shown that the performance of registration may be improved by filtering out noise from repeated measurements of the points, calculating small corrections to the mean locations and restoring rigid-body condition. In the current study, we investigate experimental conditions in which improvement in registration can still be achieved without cumbersome collection of repeated measurements. We show that for sufficiently small noise relative to bias, the corrections calculated from a single measurement of points can be used and still lead to the improved registration.
Proceedings Title
8th International Precision Assembly Seminar
Conference Dates
January 14-16, 2018
Conference Location


Rigid-body registration, bias, peg-in-hole


Franaszek, M. and Cheok, G. (2018), Improving Rigid-Body Registration Based on Points Affected by Bias and Noise, 8th International Precision Assembly Seminar, Chamonix, -1, [online], (Accessed April 23, 2024)
Created December 31, 2018, Updated June 1, 2020