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This paper presents a computational geometric solution to the kinematic registration problem using computational line geometry. Kinematic registration involves computation of the screw parameters of a motion from specified positions of geometric features of the moving body. The problem is formulated using a special complex of lines associated with kinematics namely the bisecting linear line complex. In this fashion the problem is reduced to an approximation problem in the line space and a slightly modified version of the line approximation method developed by Pottmann, Peternell, and Ravani (1999) is used to find the solution.

A Computational Geometric Solution of the Kinematic Registration Problem Using the Bisecting Linear Line Complex