接触走査から姿勢推定へ：相補形状ドッキングによるプローブ対応位置合わせ
From swept contact to pose: Probe-aware registration via complementary-shape docking
光学的手法に頼らず、プローブの掃引体積と対象物の相補形状ドッキングとして接触位置合わせを定式化し、高精度な位置合わせを実現する手法を提案した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Chen Chen, Yunwen Li, Yifan Xu, Xiangjie Yan, Chang Shu, Jianxia Hou, Shiji Song, Xiang Li
分類: cs.RO
原文アブストラクト
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{\deg} accuracy and robustness to pose noise and contact loss. On a tooth-preparation robot, our method attained 0.42 mm and 3.75{\deg}, outperforming an optical tracker registration while requiring no external sensors. These results demonstrate a practical and precise registration strategy for surgical and industrial robots.
