Predicting build orientation for SLM dental parts: a comparison of rotation representations and direct vector regression

Abstract

Build orientation for selective laser melting (SLM) manufacturing of dental parts is usually chosen manually by technicians. We treat orientation prediction as supervised machine learning of the part's up-axis from technician-labeled production data, and test which rotation representations produce the best results. Using $n\approx2400$ patient-specific dental parts, we trained a ResNet-50 multi-view image backbone and a PointNeXt-S point-cloud backbone, both pretrained and fine-tuned end-to-end, on 13 up-axis representations spanning six classical $SO(3)$ parameterizations and seven representations defined directly on the unit sphere $S^2$. We report the geodesic angular error between predicted and ground-truth up-axis on a test set, with and without test-time augmentation (TTA) over $K=21$ known rotations. With TTA, the octahedral map achieves the lowest mean angular error ($10.6^\circ$, ResNet-50). The three lowest-error results overall are direct $S^2$ representations, though this may reflect label noise in the unsupervised in-plane component of the $SO(3)$ targets rather than a topological advantage. von Mises-Fisher collapses to a near-constant prediction when trained with PointNeXt-S but not with ResNet-50. TTA reduces mean angular error by 31-73 % across almost every representation and backbone. Overall, test-time augmentation over a small set of known rotations is the most consistent driver of accuracy, whereas the best-performing representation is strongly backbone-dependent.