{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:46:40Z","timestamp":1760240800546,"version":"build-2065373602"},"reference-count":44,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2019,9,6]],"date-time":"2019-09-06T00:00:00Z","timestamp":1567728000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["41671452, 41701532"],"award-info":[{"award-number":["41671452, 41701532"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["2017M612510"],"award-info":[{"award-number":["2017M612510"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>As an important part of industrial 3D scanning, a relocation algorithm is used to restore the position and the pose of a 3D scanner or to perform closed-loop detection. The real time and the relocation correct ratio are prominent and difficult points in 3D scanning relocation research. By utilizing the depth map information captured by a binocular vision 3D scanner, we developed an efficient and real-time relocation algorithm to estimate the current position and pose of the sensor real-time and high-correct-rate relocation algorithm for small-range 3D texture less scanning. This algorithm mainly involves feature calculation, feature database construction and query, feature matching verification, and rigid transformation calculation; through the four parts, the initial position and pose of the sensors in the global coordinate system is obtained. In the experiments, the efficiency and the correct-rate of the proposed relocation algorithm were elaborately verified by offline and online experiments on four objects of different sizes, and a smooth and a rough surface. With more data frames and feature points, the relocation could be maintained real time within 200 ms, and a high correct rate of more than 90% could be realized. The experimental results showed that the proposed algorithm could achieve a real-time and high-correct-ratio relocation.<\/jats:p>","DOI":"10.3390\/s19183855","type":"journal-article","created":{"date-parts":[[2019,9,9]],"date-time":"2019-09-09T03:14:41Z","timestamp":1567998881000},"page":"3855","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Real-Time Efficient Relocation Algorithm Based on Depth Map for Small-Range Textureless 3D Scanning"],"prefix":"10.3390","volume":"19","author":[{"given":"Fengbo","family":"Zhu","sequence":"first","affiliation":[{"name":"School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shunyi","family":"Zheng","sequence":"additional","affiliation":[{"name":"School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaonan","family":"Wang","sequence":"additional","affiliation":[{"name":"Wuhan Zhongguan Automation Technology Co., Ltd., Wuhan 430066, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuan","family":"He","sequence":"additional","affiliation":[{"name":"School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Li","family":"Gui","sequence":"additional","affiliation":[{"name":"Collaborative Innovation Center of Geospatial Technology, Wuhan University, Wuhan 430079, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Liangxiong","family":"Gong","sequence":"additional","affiliation":[{"name":"Nanchang Institute of Surveying and Mapping, Nanchang 330013, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,9,6]]},"reference":[{"key":"ref_1","unstructured":"(2019, August 04). 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