在港口转移起重机周围识别训练有素和未训练有素的障碍物,使用图像分割模型和地面和图像之间的坐标映射
1Department of Plant Engineering Center, Institute for Advanced Engineering, Yongin-si 11780, Republic of Korea.
Sensors (Basel, Switzerland)
|July 14, 2023
概括
本研究引入了一种基于摄像头的系统,用于自动起重机识别和定位障碍物,通过区分障碍物类型来提高港口物流效率和安全性,与LiDAR系统不同.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 计算机视觉 计算机视觉
- 物流物流物流物流物流是什么
背景情况:
- 集装箱场拥堵在港口物流中构成重大风险,导致效率低下和事故.
- 自动化转移起重机和利用像LiDAR这样的障碍物识别系统对于提高港口运营至关重要.
- 目前的激光雷达系统难以区分障碍物类型,需要在潜在危险区域缓慢的起重机移动,从而降低效率.
研究的目的:
- 开发一种用于识别自动起重机周围训练有素和未训练有素障碍物的位置和类别的新方法.
- 通过使起重机能够智能地绕过障碍物来提高港口运营的工作效率和安全性.
主要方法:
- 使用在障碍物和地面图像上训练的语义细分模型来识别摄像头料中的障碍物.
- 使用图像过器从细分图像中提取障碍物边界.
- 实现坐标映射表,将障碍物边界从图像坐标转换为现实世界的坐标.
主要成果:
- 拟议的基于摄像头的方法准确地识别和定位起重机周围的障碍物.
- 距离估计错误记录在32厘米在5米和125厘米在30米的卡车.
- 尽管在较远的距离上与LiDAR相比,错误较大,但该方法的准确性被认为可以用于低速度端口环境.
结论:
- 开发的基于视觉的系统为自动化起重机操作中的障碍物识别提供了可行的解决方案.
- 该系统对障碍物进行分类的能力使得在港口物流中,起重机的移动更加有效和安全.
- 进一步提高准确性,特别是在更远的距离上,可以提高系统在动态港口环境中的适用性.
相关概念视频
Relative Motion Analysis using Rotating Axes-Problem Solving
424
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
Here, in order to determine the magnitude of velocity and acceleration for point...
424
Centroid of a Body: Problem Solving
1.2K
The centroid of a body is a crucial concept in engineering and physics. Finding the centroid of a body can help determine its stability, its balance point, and even its design. In this context, consider a thin wire bent in the form of a quarter circular arc. Polar coordinates are used to calculate the centroid. The wire is first divided into small differential elements of a length equal to the radius multiplied by the differential angle.
The x-coordinates and y-coordinates of each element's...
The x-coordinates and y-coordinates of each element's...
1.2K
Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device
82
Surveyors use Global Positioning System (GPS) technology to measure the precise location and elevation of points on Earth. In a recent survey, GPS receivers were used to determine the coordinates and elevations of two park monuments. The process involved careful mission planning, data collection, and correction to ensure accuracy. The survey began with mission planning to identify optimal satellite visibility and minimize Position Dilution of Precision (PDOP). A geodetic control point...
82


