1. The Registration Mark Problem
Given an n-sided polygonal part and a set of k
rigid planar transforms.
Locate a point on the part that maximizes the
minimum distance between transformed points.
Motivation:
Mechanical Constraints define k Poses
Want to minimize effect of Noise in Vision System

3. The Registration Mark Problem
Consider a One-Dimensional Part of Length 1
and 3 Poses:

4. The Registration Mark Problem
Complexity: O (k2 log k)

5. The Registration Mark Problem
In 2D, k2 bivariate distance functions.
Complexity: O (log k (n logk + k4 log *k))
Length of Davenport-Schinzel Sequences
(Schwartz and Sharir, ‘90)