Registration of point-set inspected by spherical tipped probe

This paper presents an efficient method for rigid registration of 3-D point sets, which intends to match the feature points inspected using touch probe with the points on designed CAD surface. The alignment error is defined as the least square problem, and the sphere radius of the inspection probe is considered. In this framework, the registration problem is converted into acquiring six Euler variables problem by solving nonlinear equations. Thus a matrix transformation of parameter separation is presented to get the approximate resolution. Finally, iterative cycles are provided to calculate the nearest points on designed surface corresponding to the inspection points. Experiment verification is realized for the presented point-set registration method of robot inspection system.