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Surface Matching Method for the Armed Inspection Robots

This paper presents an efficient method for rigid registration of 3-D point sets, which intends to match the feature points inspected by armed inspection robots 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 matching 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. The validity and effectivness is tested via real surface matching experiment.