|R. Caracciolo, F. Fanton, A. Gasparetto, A. Rossi|
|A Laser Based 3D Correlation Procedure for the Execution of a Biomedical Task in a Robotized Cell|
|Proceedings of the Third Conference on Mechatronics and Robotics, Paderborn, Germany, 4-6 Oct. 1995|
Abstract: A 3D adjusting procedure is presented, able to find the correlation between a real object and its representation in a simulation environment. This procedure enables one to design and test complex tasks in the simulation environment and guarantees the correct execution in the real cell. The proposed algorithm is based on the surface matching theory and is designed to work whenever does not exist a one to one correspondence between the sets of points. Two types of matching are introduced, called point to point and surface to point. Both matching types are implemented and discussed. The results of some performance tests are presented. The proposed procedure is applied to a skull phantom whose CAD model come from combined CT and MR.