Research on detection and tracking of ship's superelevation based on single-line LiDAR

Ru Zhou; Anxi Cao; Qiyu Zhong; Ye Jiang; Shihong Jiang

doi:10.1117/12.2646867

7 September 2022 Research on detection and tracking of ship's superelevation based on single-line LiDAR

Ru Zhou, Anxi Cao, Qiyu Zhong, Ye Jiang, Shihong Jiang

Proceedings Volume 12329, Third International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2022); 123292Q (2022) https://doi.org/10.1117/12.2646867
Event: Third International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2022), 2022, Changsha, China

Abstract

Many large bridges are being built across large rivers and the height of ships is also increasing. Due to the super high hull, the bridge structure (cross-sea bridge) across the water route has frequent ship collisions, which not only threatens people's safety, but also brings immeasurable economic losses. In addition, the resulting bridge damage and collapse hazards are huge; the risk of the ship hitting the bridge cannot be ignored in the process of bridge structure planning, design and operation throughout its life. Therefore, in view of the phenomenon of ultra-high ships in clear sea areas, a detection algorithm for ultra-high ships based on lidar is proposed. First, the single-line lidar based on ROS is used to obtain environmental information, and the lidar data is processed by the median filtering algorithm for the clear sea area, so as to remove the erroneous point cloud data caused by noise and avoid affecting the subsequent analysis. The point cloud data of some sectors will be deleted through the laser_filters plug-in that comes with ROS, and then the filtered point cloud will be clustered using the adaptive density clustering algorithm DBSCAN, and then the Graham scanning method will be used to establish an external convex hull for the point set. Mark the superelevated ships. The results show that this study can quickly detect ultra-high ships in the clear sea area, and can track objects in real time. Make further contributions to the detection and research of ultra-high ships in clear waters.

Citation Download Citation

Ru Zhou, Anxi Cao, Qiyu Zhong, Ye Jiang, and Shihong Jiang "Research on detection and tracking of ship's superelevation based on single-line LiDAR", Proc. SPIE 12329, Third International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2022), 123292Q (7 September 2022); https://doi.org/10.1117/12.2646867

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KEYWORDS

LIDAR

Digital filtering

Clouds

Bridges

Optical filters

Detection and tracking algorithms

Nonlinear filtering

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