Vessels 6-DOF poses measurement based on key points tracking via binocular camera

Offshore accurate replenishment technology is the foundation for conducting ocean research for every country. However, it is difficult to keep the security and accuracy of hoisting due to the fact that waves will let vessels generate 6-DOF motions. This paper regards accurate offshore supplying as a background, and takes into consideration that vessel acts as a rigid body to perform algorithm research on the AHC (Active Heaving Compensation) detection system. The binocular camera installed on the hoisting equipment can calculate the 6-DOF pose of vessel via detecting landmarks on the deck. The system can achieve all-weather operations, adopting Shi-Tomasi algorithm to identify and L-K Optical Flow algorithm to track sub-pixel points. Lastly, the scheme has been verified in the 6-DOF motion platform, which indicates that its accuracy meets the requirements of the control experiment in the next step.

[1]  Fang Fang,et al.  Long-range outdoor localization of a mobile robot using a binocular camera , 2015, IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society.

[2]  Wesley Roozing,et al.  Low-cost vision-based 6-DOF MAV localization using IR beacons , 2013, 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[3]  Daolin Xu,et al.  Amplitude death of a multi-module floating airport , 2015 .

[4]  Shang Jian-zhong.  The Principle and Mathematical Modeling of a New Active Heave Compensation System , 2007 .

[5]  Qian Feng.  Algorithm for MTI-based Integrated Navigation , 2010 .

[6]  Michael Spann,et al.  Robust optical flow estimation based on a sparse motion trajectory set , 2003, IEEE Trans. Image Process..

[7]  Odd M. Faltinsen,et al.  Sea loads on ships and offshore structures , 1990 .

[8]  R. P. Gittins,et al.  Replenishment at Sea , 1989 .

[9]  Carlos Silvestre,et al.  Tightly coupled ultrashort baseline and inertial navigation system for underwater vehicles: An experimental validation , 2013, J. Field Robotics.

[10]  Xin Zhang,et al.  An Improved Harris Corner Detection Algorithm for Noised Images , 2012 .

[11]  F. Samadzadegan,et al.  Vision-based pose estimation for autonomous outdoor navigation of aerial vehicles , 2011, The 2nd International Conference on Control, Instrumentation and Automation.

[12]  Zuo Aiqiu.  Measurement of Position and Orientation of a Parallel 6-DOF Electrohydraulic Servo Platform Based on Stereo Vision , 2000 .

[13]  Roque J. Saltarén,et al.  An Active helideck testbed for floating structures based on a Stewart-Gough platform , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  Wei Lv,et al.  Anti-pendulation analysis of parallel wave compensation systems , 2016 .

[15]  Martin Buss,et al.  Visual tracking and control of a quadcopter using a stereo camera system and inertial sensors , 2009, 2009 International Conference on Mechatronics and Automation.