Estimation of Ship-Deck Motion using LIDAR,Gyroscopes and Cameras
This paper presents a system for the estimation of ship deck motion using camera, lidar and gyroscopes. A camera is used in a vision system that is based on the detection of lines as input to a vanishing point detector. This is done under a Manhattan assumption for man-made structures where the maj...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Norwegian Society of Automatic Control
2021-07-01
|
| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/2021/MIC-2021-3-1.pdf |
| _version_ | 1819071366052184064 |
|---|---|
| author | Hans K.R. Holen Alexander M. Sjøberg Olav Egeland |
| author_facet | Hans K.R. Holen Alexander M. Sjøberg Olav Egeland |
| author_sort | Hans K.R. Holen |
| collection | DOAJ |
| description | This paper presents a system for the estimation of ship deck motion using camera, lidar and gyroscopes. A camera is used in a vision system that is based on the detection of lines as input to a vanishing point detector. This is done under a Manhattan assumption for man-made structures where the majority of lines are along 3 orthogonal axes. Two sets of parallel orthogonal lines are detected for the ship deck, and this is used to estimate the attitude using a complementary filter with input from lidar and gyroscopes. Since the vision algorithm depends on lines rather than points, the system is more resistant to occlusions like vision algorithms based on point tracking. In addition, a lidar is used to measure the distance between the sensor frame and the plane, and gyroscopes are used to improved the accuracy of the estimates. The system is validated in real time in lab experiments on a model of a ship. |
| first_indexed | 2024-12-21T17:20:41Z |
| format | Article |
| id | doaj.art-cf5faa5181a843d4b256ebd7d7d0ba39 |
| institution | Directory Open Access Journal |
| issn | 0332-7353 1890-1328 |
| language | English |
| last_indexed | 2024-12-21T17:20:41Z |
| publishDate | 2021-07-01 |
| publisher | Norwegian Society of Automatic Control |
| record_format | Article |
| series | Modeling, Identification and Control |
| spelling | doaj.art-cf5faa5181a843d4b256ebd7d7d0ba392022-12-21T18:56:11ZengNorwegian Society of Automatic ControlModeling, Identification and Control0332-73531890-13282021-07-014239911210.4173/mic.2021.3.1Estimation of Ship-Deck Motion using LIDAR,Gyroscopes and CamerasHans K.R. HolenAlexander M. SjøbergOlav EgelandThis paper presents a system for the estimation of ship deck motion using camera, lidar and gyroscopes. A camera is used in a vision system that is based on the detection of lines as input to a vanishing point detector. This is done under a Manhattan assumption for man-made structures where the majority of lines are along 3 orthogonal axes. Two sets of parallel orthogonal lines are detected for the ship deck, and this is used to estimate the attitude using a complementary filter with input from lidar and gyroscopes. Since the vision algorithm depends on lines rather than points, the system is more resistant to occlusions like vision algorithms based on point tracking. In addition, a lidar is used to measure the distance between the sensor frame and the plane, and gyroscopes are used to improved the accuracy of the estimates. The system is validated in real time in lab experiments on a model of a ship.http://www.mic-journal.no/PDF/2021/MIC-2021-3-1.pdfvanishing pointssensor fusionvisionoffshore motion compensation |
| spellingShingle | Hans K.R. Holen Alexander M. Sjøberg Olav Egeland Estimation of Ship-Deck Motion using LIDAR,Gyroscopes and Cameras Modeling, Identification and Control vanishing points sensor fusion vision offshore motion compensation |
| title | Estimation of Ship-Deck Motion using LIDAR,Gyroscopes and Cameras |
| title_full | Estimation of Ship-Deck Motion using LIDAR,Gyroscopes and Cameras |
| title_fullStr | Estimation of Ship-Deck Motion using LIDAR,Gyroscopes and Cameras |
| title_full_unstemmed | Estimation of Ship-Deck Motion using LIDAR,Gyroscopes and Cameras |
| title_short | Estimation of Ship-Deck Motion using LIDAR,Gyroscopes and Cameras |
| title_sort | estimation of ship deck motion using lidar gyroscopes and cameras |
| topic | vanishing points sensor fusion vision offshore motion compensation |
| url | http://www.mic-journal.no/PDF/2021/MIC-2021-3-1.pdf |
| work_keys_str_mv | AT hanskrholen estimationofshipdeckmotionusinglidargyroscopesandcameras AT alexandermsjøberg estimationofshipdeckmotionusinglidargyroscopesandcameras AT olavegeland estimationofshipdeckmotionusinglidargyroscopesandcameras |