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Real-Time Efficient Relocation Algorithm Based on Depth Map for Small-Range Textureless 3D Scanning.

Fengbo Zhu1, Shunyi Zheng2, Xiaonan Wang3

  • 1School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China. zhu_fb@whu.edu.cn.

Sensors (Basel, Switzerland)
|September 11, 2019
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Summary

This study introduces a real-time 3D scanning relocation algorithm using binocular vision depth maps. The efficient algorithm achieves high accuracy for texture-less scanning, crucial for industrial applications.

Keywords:
feature matching verificationglobal relocationkey point detectorreal-time relocationtransformation estimation

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Area of Science:

  • Computer Vision
  • Robotics
  • 3D Imaging

Background:

  • Relocation algorithms are vital for industrial 3D scanning, enabling accurate position and pose estimation.
  • Real-time performance and high relocation accuracy are significant challenges in 3D scanning research.

Purpose of the Study:

  • To develop an efficient, real-time relocation algorithm for binocular vision 3D scanners.
  • To achieve high-accuracy pose estimation for small-range, texture-less 3D scanning.

Main Methods:

  • Utilized depth map information from a binocular vision 3D scanner.
  • Developed a four-part algorithm: feature calculation, database construction/query, matching verification, and rigid transformation.
  • Obtained initial sensor position and pose within the global coordinate system.

Main Results:

  • Verified algorithm efficiency and correctness through offline and online experiments on diverse objects and surfaces.
  • Achieved real-time relocation within 200 ms with sufficient data and feature points.
  • Demonstrated a high relocation correct rate exceeding 90%.

Conclusions:

  • The proposed algorithm effectively achieves real-time and high-accuracy relocation for 3D scanning.
  • The method is suitable for industrial applications requiring precise sensor pose estimation, especially in texture-less environments.