From swept contact to pose: Probe-aware registration via complementary-shape docking
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arXiv
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| Main Authors: | , , , , , , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866917517102940160 |
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| author | Chen, Chen Li, Yunwen Xu, Yifan Yan, Xiangjie Shu, Chang Hou, Jianxia Song, Shiji Li, Xiang |
| author_facet | Chen, Chen Li, Yunwen Xu, Yifan Yan, Xiangjie Shu, Chang Hou, Jianxia Song, Shiji Li, Xiang |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_21398 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | From swept contact to pose: Probe-aware registration via complementary-shape docking Chen, Chen Li, Yunwen Xu, Yifan Yan, Xiangjie Shu, Chang Hou, Jianxia Song, Shiji Li, Xiang Robotics 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. |
| title | From swept contact to pose: Probe-aware registration via complementary-shape docking |
| topic | Robotics |
| url | https://arxiv.org/abs/2605.21398 |