High-Precision Pose Measurement of Containers on the Transfer Platform of the Dual-Trolley Quayside Container Crane Based on Machine Vision
To address the high-precision measurement requirements for container pose on dual-trolley quayside crane-transfer platforms, this paper proposes a machine vision-based measurement method that resolves the challenges of multi-scale lockhole detection and precision demands caused by complex illuminati...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-04-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/25/9/2760 |
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| Summary: | To address the high-precision measurement requirements for container pose on dual-trolley quayside crane-transfer platforms, this paper proposes a machine vision-based measurement method that resolves the challenges of multi-scale lockhole detection and precision demands caused by complex illumination and perspective deformation in port operational environments. A hardware system comprising fixed cameras and edge computing modules is established, integrated with an adaptive image-enhancement preprocessing algorithm to enhance feature robustness under complex illumination conditions. A multi-scale adaptive frequency object-detection framework is developed based on YOLO11, achieving improved detection accuracy for multi-scale lockhole keypoints in perspective-distortion scenarios (mAP@0.5 reaches 95.1%, 4.7% higher than baseline models) through dynamic balancing of high–low-frequency features and adaptive convolution kernel adjustments. An enhanced EPnP optimization algorithm incorporating lockhole coplanar constraints is proposed, establishing a 2D–3D coordinate transformation model that reduces pose-estimation errors to millimeter level (planar MAE-P = 0.024 m) and sub-angular level (MAE-<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>θ</mi></semantics></math></inline-formula> = 0.11°). Experimental results demonstrate that the proposed method outperforms existing solutions in container pose-deviation-detection accuracy, efficiency, and stability, proving to be a feasible measurement approach. |
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| ISSN: | 1424-8220 |