Multiple camera calibration and stereo depth estimation for automated quay crane
The seaport environment significantly depends on the quay crane system for effectively handling containers from container ships. Recently, multiple cameras have been built into the spreader, providing RGB and depth pictures to improve intelligence, safety, and operational efficiency. However, it bec...
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Final Year Project (FYP) |
| Language: | English |
| Published: |
Nanyang Technological University
2024
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/176710 |
| _version_ | 1811676527182479360 |
|---|---|
| author | Tu, Weifeng |
| author2 | Wang Dan Wei |
| author_facet | Wang Dan Wei Tu, Weifeng |
| author_sort | Tu, Weifeng |
| collection | NTU |
| description | The seaport environment significantly depends on the quay crane system for effectively handling containers from container ships. Recently, multiple cameras have been built into the spreader, providing RGB and depth pictures to improve intelligence, safety, and operational efficiency. However, it becomes crucial to handle two key issues: (1) How to correctly calibrate the intrinsic and extrinsic calibration parameters of the cameras and (2) How to determine the depth distance of the container to the spreader cameras. This report presents a comprehensive pipeline to tackle these challenges. Firstly, the cameras mounted on the spreader are calibrated offline using the Kalibr toolbox. Secondly, the stereo camera pairs will be used to estimate the depth of the container by processing the images through the stereo match algorithm (Libsgm). Finally, the experiment suggests that the outcome for the multiple camera calibration provides a reprojection error of about 0.3 pixels, and the outcomes for the depth estimation give an error between 2% and 8%. The two algorithms are used to determine how well this method works for precisely analysing object depth, showcasing improved efficiency and safety in seaport operations involving quay crane systems. |
| first_indexed | 2024-10-01T02:22:53Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/176710 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T02:22:53Z |
| publishDate | 2024 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1767102024-05-24T15:50:21Z Multiple camera calibration and stereo depth estimation for automated quay crane Tu, Weifeng Wang Dan Wei School of Electrical and Electronic Engineering EDWWANG@ntu.edu.sg Engineering Electrical & electronic engineering The seaport environment significantly depends on the quay crane system for effectively handling containers from container ships. Recently, multiple cameras have been built into the spreader, providing RGB and depth pictures to improve intelligence, safety, and operational efficiency. However, it becomes crucial to handle two key issues: (1) How to correctly calibrate the intrinsic and extrinsic calibration parameters of the cameras and (2) How to determine the depth distance of the container to the spreader cameras. This report presents a comprehensive pipeline to tackle these challenges. Firstly, the cameras mounted on the spreader are calibrated offline using the Kalibr toolbox. Secondly, the stereo camera pairs will be used to estimate the depth of the container by processing the images through the stereo match algorithm (Libsgm). Finally, the experiment suggests that the outcome for the multiple camera calibration provides a reprojection error of about 0.3 pixels, and the outcomes for the depth estimation give an error between 2% and 8%. The two algorithms are used to determine how well this method works for precisely analysing object depth, showcasing improved efficiency and safety in seaport operations involving quay crane systems. Bachelor's degree 2024-05-20T07:37:25Z 2024-05-20T07:37:25Z 2024 Final Year Project (FYP) Tu, W. (2024). Multiple camera calibration and stereo depth estimation for automated quay crane. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/176710 https://hdl.handle.net/10356/176710 en A1169-231 application/pdf Nanyang Technological University |
| spellingShingle | Engineering Electrical & electronic engineering Tu, Weifeng Multiple camera calibration and stereo depth estimation for automated quay crane |
| title | Multiple camera calibration and stereo depth estimation for automated quay crane |
| title_full | Multiple camera calibration and stereo depth estimation for automated quay crane |
| title_fullStr | Multiple camera calibration and stereo depth estimation for automated quay crane |
| title_full_unstemmed | Multiple camera calibration and stereo depth estimation for automated quay crane |
| title_short | Multiple camera calibration and stereo depth estimation for automated quay crane |
| title_sort | multiple camera calibration and stereo depth estimation for automated quay crane |
| topic | Engineering Electrical & electronic engineering |
| url | https://hdl.handle.net/10356/176710 |
| work_keys_str_mv | AT tuweifeng multiplecameracalibrationandstereodepthestimationforautomatedquaycrane |