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

Published

December 31, 2018

Author(s)

Marek Franaszek, Geraldine S. Cheok

Abstract

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

Chamonix

Pub Type

Conferences

Download Paper

https://doi.org/10.1007/978-3-030-05931-6_20

Local Download

Keywords

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

Citation

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], https://doi.org/10.1007/978-3-030-05931-6_20 (Accessed January 11, 2025)