用探针扫掠形状实现精准定位，无需标定即可完成机器人高精度配准。
From swept contact to pose: Probe-aware registration via complementary-shape docking
- 通过探针扫掠体积与物体互补形状的匹配来实现配准
- 仿真中达到亚0.04毫米和亚0.4度精度，抗噪声和接触丢失
- 适合手术与工业机器人，无需外部传感器，实用性强
高精度机器人操作依赖于先验模型与真实场景的精确配准，但光学方法存在校准链长、视线限制和制造误差等问题。本文提出一种免标定方案，将接触配准重构为物体与探针扫掠体积间的互补形状对接，显式建模探针几何，并融合接触与非接触证据。求解器采用低差异SO(3)采样下的3D FFT相关进行全局到局部搜索，再通过李代数更新和解析接触敏感性实现连续SE(3)优化。该流程实现高效探索与计量级收敛，无需脆弱的点对应关系。在自由曲面网格上的仿真中，实现了小于0.04毫米和小于0.4°的精度，对位姿噪声和接触丢失具有鲁棒性。在牙科预备机器人上，本方法达到0.42毫米和3.75°的性能，优于光学追踪配准，且无需外部传感器。结果表明，该方法为手术与工业机器人提供了一种实用且高精度的配准策略。
原文摘要 · Abstract (English)
Accurate registration between a prior model and the real scene is essential for high-precision robotic manipulation, yet optical methods suffer from long calibration chains, line-of-sight constraints, and fabrication errors. We propose a calibration-free alternative that reformulates contact registration as complementary-shape docking between the object and the probe's swept volume, explicitly accounting for probe geometry and leveraging both contact and non-contact evidence. Our solver integrates a global-to-local search via 3D FFT correlation over low-discrepancy SO(3) samples, then followed by continuous SE(3) refinement using Lie-algebra updates and analytic contact sensitivities. This pipeline yields efficient exploration and metric-grade convergence without fragile point correspondences. Simulation across free-form meshes achieved sub-0.04 mm and sub-0.4° accuracy and robustness to pose noise and contact loss. On a tooth-preparation robot, our method attained 0.42 mm and 3.75°, outperforming an optical tracker registration while requiring no external sensors. These results demonstrate a practical and precise registration strategy for surgical and industrial robots.
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