Plane Extraction Method for Berthing and Unberthing Carriers' Shoreward Hull

doi:10.3901/JME.2025.18.050

Abstract

Abstract: To address the need for detecting bulk carriers during berthing and unberthing at bulk cargo ports to prevent accidents, a planar feature extraction method based on Fast Point Feature Histogram (FPFH) template matching and improved M-estimate Sample Consensus (MSAC) plane fitting was proposed by simplifying the detection of the entire hull, considering the large block coefficient of such carriers. Template point clouds were established using prior knowledge, and the target point cloud was obtained through preprocessing. Normal vectors were estimated and FPFH features were calculated for template matching to extract the shoreward hull point cloud, and hierarchical density-based clustering (HDBSCAN) was applied, followed by MSAC-based plane fitting considering normal vector directions to extract planar features. Validation using on-site data indicated that lower Mean Relative Error (MRE) and reduced standard deviation of processing time per frame were achieved compared to existing methods, with the average processing time per frame found to be shorter than the radar sampling interval, ensuring that real-time operational requirements were met..

Key words: sparse point cloud, plane fitting, M-estimate sample consensus, clustering, template matching

CLC Number:

TP391

ZHOU Bicheng, SHEN Yue, KONG Deming. Plane Extraction Method for Berthing and Unberthing Carriers' Shoreward Hull[J]. Journal of Mechanical Engineering, 2025, 61(18): 50-63.

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