From swept contact to pose: Probe-aware registration via complementary-shape docking

• URL: http://arxiv.org/abs/2605.21398v1
• Date: Wed, 20 May 2026 16:56:39 GMT
• Title: From swept contact to pose: Probe-aware registration via complementary-shape docking
• Abstract summary: Contact registration is essential for high-precision robotic manipulation.<n>We propose a calibration-free alternative that reformulates contact registration as complementary-shape docking.<n>Our solver integrates a global-to-local search via 3D FFT correlation over low-discrepancy SO(3) samples.
• Score: 41.01931030228033
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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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