Motion pose estimation of inshore ships based on point cloud

Abstract

This paper proposes a new method to obtain the pose information estimation of the ship at multiple points based on point cloud data. Compared with the traditional pose estimation method, which regards the ship as a point to estimate the pose information of the ship, the proposed algorithm can effectively obtain the pose information of the ship from multiple points. This paper uses the spatial location of numerous key points from point cloud data by studying the spatial structure information of the ship. By tracking the spatial trajectory changes of the key points of the ship, the real-time angle, distance, velocity, and other information of the ship’s multiple points are finally estimated. The algorithm is verified by simulating the point cloud data when the inshore is berthing. The results show that the error of the proposed method is much smaller than that of other existing methods, and the proposed method can provide more accurate and abundant ship pose information. The method presented in this paper is competitive with other existing nearshore attitude estimation methods.data is at: https://drive.google.com/file/d/1LYN_tMrqtncnENzC2E5Fer3DTwL8tXH9/view?usp=sharingcode is at: https://github.com/serendipitylxd/Estimation-of-ship-pose