A novel algorithm of ship structure modeling and target identification based on point cloud for automation in bulk cargo terminals

Yang Miao,Zhan Li,Yipeng Yang,Xinghu Yu,Changan Li

doi:10.1177/0020294021992804

Abstract

Achieving port automation of machinery at bulk terminals is a challenging problem due to the volatile operation environments and complexity of bulk loading compared to the situations in container terminals. In order to facilitate port automation, we present a method of hull modeling (reconstruction of hull’s structure) and operation target (cargo holds under loading) identification based on 3D point cloud collected by Laser Measurement System mounted on the ship loader. In the hull modeling algorithm, we incrementally register pairs of point clouds and reconstruct the 3D structure of bulk ship’s hull blocks in details through process of encoder data of the loader, FPFH feature matching and ICP algorithm. In the identification algorithm, we project real-time point clouds of the operation zone to spherical coordinate and transforms the 3D point clouds to 2D images for fast and reliable identification of operation target. Our method detects and complements four edges of the operation target through process of the 2D images and estimates both posture and size of operation target in the bulk terminal based on the complemented edges. Experimental trials show that our algorithm allows us to achieve the reconstruction of hull blocks and real-time identification of operation target with high accuracy and reliability.

Highlights

As the world economics develops, maritime transportation flourishes and the demand in capacity of port increases
This section describes our algorithm of identifying the operation targets based on the real-time point clouds of operation zones and the bulk cargo ships 3D structure built above
In the future, we will use multiple lidars at different angles facing toward the deck plane of cargo ships and merge point clouds collected by those lidars for identification, and the accuracy of our target identification algorithm can be further improved

Summary

Introduction

As the world economics develops, maritime transportation flourishes and the demand in capacity of port increases. Port automation, point cloud, 3D modeling of hull blocks, target identification In order to facilitate the automation at bulk cargo terminals, it is necessary to reconstruct the 3D structure of hull blocks and achieve identification of operation targets in real time.

Results

Conclusion