{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T11:34:12Z","timestamp":1773401652708,"version":"3.50.1"},"reference-count":24,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2019,2,6]],"date-time":"2019-02-06T00:00:00Z","timestamp":1549411200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["No. 2018YFB1105800, 2017YFB1103200, 2018YFB110170"],"award-info":[{"award-number":["No. 2018YFB1105800, 2017YFB1103200, 2018YFB110170"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["No. 51505169, 51675165"],"award-info":[{"award-number":["No. 51505169, 51675165"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents a high-accuracy method for globally consistent surface reconstruction using a single fringe projection profilometry (FPP) sensor. To solve the accumulated sensor pose estimation error problem encountered in a long scanning trajectory, we first present a novel 3D registration method which fuses both dense geometric and curvature consistency constraints to improve the accuracy of relative sensor pose estimation. Then we perform global sensor pose optimization by modeling the surface consistency information as a pre-computed covariance matrix and formulating the multi-view point cloud registration problem in a pose graph optimization framework. Experiments on reconstructing a 1300 mm \u00d7 400 mm workpiece with a FPP sensor is performed, verifying that our method can substantially reduce the accumulated error and achieve industrial-level surface model reconstruction without any external positional assistance but only using a single FPP sensor.<\/jats:p>","DOI":"10.3390\/s19030668","type":"journal-article","created":{"date-parts":[[2019,2,6]],"date-time":"2019-02-06T11:51:12Z","timestamp":1549453872000},"page":"668","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["High-Accuracy Globally Consistent Surface Reconstruction Using Fringe Projection Profilometry"],"prefix":"10.3390","volume":"19","author":[{"given":"Xu","family":"Cheng","sequence":"first","affiliation":[{"name":"State Key Laboratory of Material Processing and Die &amp; Mould Technology, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7845-7962","authenticated-orcid":false,"given":"Xingjian","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Material Processing and Die &amp; Mould Technology, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhongwei","family":"Li","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Material Processing and Die &amp; Mould Technology, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kai","family":"Zhong","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Material Processing and Die &amp; Mould Technology, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0342-0732","authenticated-orcid":false,"given":"Liya","family":"Han","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Material Processing and Die &amp; Mould Technology, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wantao","family":"He","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Heilongjiang University of Science and Technology, Harbin 150022, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wanbing","family":"Gan","sequence":"additional","affiliation":[{"name":"Hubei Tri-Ring Forging Co., Ltd, Gucheng 441700, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guoqing","family":"Xi","sequence":"additional","affiliation":[{"name":"Hubei Tri-Ring Forging Co., Ltd, Gucheng 441700, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Congjun","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Material Processing and Die &amp; Mould Technology, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yusheng","family":"Shi","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Material Processing and Die &amp; Mould Technology, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,2,6]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"149","DOI":"10.1016\/j.optlaseng.2009.03.008","article-title":"Recent progresses on real-time 3D shape measurement using digital fringe projection techniques","volume":"48","author":"Zhang","year":"2010","journal-title":"Opt. Lasers Eng."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"14196","DOI":"10.1364\/OE.24.014196","article-title":"Pre-calibration-free 3D shape measurement method based on fringe projection","volume":"24","author":"Zhong","year":"2016","journal-title":"Opt. Express"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"27270","DOI":"10.1364\/OE.25.027270","article-title":"Superfast high-resolution absolute 3D recovery of a stabilized flapping flight process","volume":"25","author":"Li","year":"2017","journal-title":"Opt. Express"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1016\/j.optlaseng.2018.04.019","article-title":"Phase shifting algorithms for fringe projection profilometry: A review","volume":"109","author":"Zuo","year":"2018","journal-title":"Opt. Lasers Eng."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Han, L., Cheng, X., Li, Z., Zhong, K., Shi, Y., and Jiang, H. (2018). A Robot-Driven 3D Shape Measurement System for Automatic Quality Inspection of Thermal Objects on a Forging Production Line. Sensors, 18.","DOI":"10.3390\/s18124368"},{"key":"ref_6","unstructured":"Choi, S., Zhou, Q., and Koltun, V. (2015, January 7\u201312). Robust reconstruction of indoor scenes. Proceedings of the 2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Boston, MA, USA."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Dai, A., Nie\u00dfner, M., Zollh\u00f6fer, M., Izadi, S., and Theobalt, C. (2017). BundleFusion: Real-Time Globally Consistent 3D Reconstruction Using On-the-Fly Surface Reintegration. ACM Trans. Graph., 36.","DOI":"10.1145\/3054739"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"177","DOI":"10.1109\/TRO.2013.2279412","article-title":"3-D Mapping With an RGB-D Camera","volume":"30","author":"Endres","year":"2014","journal-title":"IEEE Trans. Robot."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"647","DOI":"10.1177\/0278364911434148","article-title":"RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments","volume":"31","author":"Henry","year":"2012","journal-title":"Int. J. Rob. Res."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"292","DOI":"10.1016\/j.optlaseng.2008.03.013","article-title":"Optical measurement techniques for mobile and large-scale dimensional metrology","volume":"47","author":"Cuypers","year":"2009","journal-title":"Opt. Lasers Eng."},{"key":"ref_11","unstructured":"Rusinkiewicz, S., and Levoy, M. (June, January 28). Efficient variants of the ICP algorithm. Proceedings of the Third International Conference on 3-D Digital Imaging and Modeling, Quebec City, QC, Canada."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Newcombe, R.A., Izadi, S., Hilliges, O., Molyneaux, D., Kim, D., Davison, A.J., Kohi, P., Shotton, J., Hodges, S., and Fitzgibbon, A. (2011, January 26\u201329). KinectFusion: Real-time dense surface mapping and tracking. Proceedings of the 2011 10th IEEE International Symposium on Mixed and Augmented Reality, Basel, Switzerland.","DOI":"10.1109\/ISMAR.2011.6092378"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Kerl, C., Sturm, J., and Cremers, D. (2013, January 3\u20137). Dense visual SLAM for RGB-D cameras. Proceedings of the 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan.","DOI":"10.1109\/IROS.2013.6696650"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"171:1","DOI":"10.1145\/3182157","article-title":"Real-time High-accuracy Three-Dimensional Reconstruction with Consumer RGB-D Cameras","volume":"37","author":"Cao","year":"2018","journal-title":"ACM Trans. Graph."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Zhou, Q., Miller, S., and Koltun, V. (2013, January 1\u20138). Elastic Fragments for Dense Scene Reconstruction. Proceedings of the 2013 IEEE International Conference on Computer Vision (ICCV), Sydney, Australia.","DOI":"10.1109\/ICCV.2013.65"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"598","DOI":"10.1177\/0278364914551008","article-title":"Real-time large-scale dense RGB-D SLAM with volumetric fusion","volume":"34","author":"Whelan","year":"2015","journal-title":"Int. J. Robot. Res."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"8179","DOI":"10.1364\/OE.26.008179","article-title":"Depth and thermal sensor fusion to enhance 3D thermographic reconstruction","volume":"26","author":"Cao","year":"2018","journal-title":"Opt. Express"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"28544","DOI":"10.1364\/OE.26.028544","article-title":"Accurate three dimensional body scanning system based on structured light","volume":"26","author":"Yue","year":"2018","journal-title":"Opt. Express"},{"key":"ref_19","unstructured":"K\u00fcmmerle, R., Grisetti, G., Strasdat, H., Konolige, K., and Burgard, W. (2011, January 9\u201313). G2o: A general framework for graph optimization. Proceedings of the 2011 IEEE International Conference on Robotics and Automation, Shanghai, China."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"2349","DOI":"10.1109\/TPAMI.2017.2648803","article-title":"Comprehensive Use of Curvature for Robust and Accurate Online Surface Reconstruction","volume":"39","author":"Lefloch","year":"2017","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"788","DOI":"10.1016\/j.optlaseng.2004.08.005","article-title":"Absolute fringe order calculation using optimised multi-frequency selection in full-field profilometry","volume":"43","author":"Towers","year":"2005","journal-title":"Opt. Lasers Eng."},{"key":"ref_22","unstructured":"Pauly, M., Gross, M., and Kobbelt, L.P. (November, January 27). Efficient simplification of point-sampled surfaces. Proceedings of the conference on Visualization \u201902, Boston, MA, USA."},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Barfoot, T.D. (2017). State Estimation for Robotics, Cambridge University Press. [1st ed.].","DOI":"10.1017\/9781316671528"},{"key":"ref_24","unstructured":"Zhou, Q.Y., Park, J., and Koltun, V. (arXiv, 2018). Open3D: A Modern Library for 3D Data Processing, arXiv."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/3\/668\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T12:31:26Z","timestamp":1760185886000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/3\/668"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,2,6]]},"references-count":24,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2019,2]]}},"alternative-id":["s19030668"],"URL":"https:\/\/doi.org\/10.3390\/s19030668","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,2,6]]}}}