Enhancing Automated Loading and Unloading of Ship Unloaders through Dynamic 3D Coordinate System with Deep Learning

Abstract

This paper proposes a deep learning approach for accurate pose estimation in ship unloaders, improving grasping accuracy by reconstructing 3D coordinates. A convolutional neural network optimizes depth map prediction from RGB images, further enhanced by a conditional generative adversarial network to refine quality. Evaluation of simulated ship unloading tasks showed over 90% grasping success rate, outperforming baseline methods. This research offers valuable insights into advanced visual perception and deep learning for next-generation automated cargo handling.