Ship height measuring method and ship height measuring device

Abstract

The invention discloses a ship height measuring method and device. The method comprises steps of usingfirst laser three-dimensional scanning device and a camera which have a known relative pose relation for obtaining three-dimensional data and a two-dimensional image of a ship body respectively; finding a detection highest point of the ship body as a ship body height initial value based on the three-dimensional data; mapping part of the three-dimensional data into the two-dimensional image to obtain corresponding two-dimensional coordinates and height values; and correcting the initial ship body height value based on the two-dimensional image and the two-dimensional coordinates and height values corresponding to the partial three-dimensional data. According to the invention, on one hand, the advantages of high single-point measurement precision and small environmental influence of the laser three-dimensional scanning device are utilized, and on the other hand, the result obtained by laser scanning measurement is corrected by utilizing the two-dimensional image, so that the measurement accuracy is further improved.

Description

technical field [0001] The invention relates to a three-dimensional measurement technology, in particular to a ship measurement method and device based on laser three-dimensional scanning technology. Background technique [0002] When a ship passes through a lock or bridge, in order to avoid collision accidents due to the height of the ship or the container it carries, it is necessary to measure the height of the ship by remote sensing. Most of the existing ship height measurement adopts image processing technology, and the camera is used to shoot the ship, and then the ship height is obtained by processing the captured image. However, the shooting of the camera is greatly affected by the environment, and the acquisition of 3D information based on image processing requires the system to have a large data computing capability, which causes certain limitations. [0003] To this end, people have explored and developed ship height measurement technology based on lidar. For exa...

AI Technical Summary

Problems solved by technology

However, such techniques are not without drawbacks

[0004] For example, the technical solution disclosed in the above-mentioned patent depends on the specific installation environment (below the bridge), so it cannot meet the requirements of ship height measurement when passing the lock, for example, and has poor versatility

In addition, although the single-point measurement accuracy of lidar is high, if the entire target scene is scanned, there is a problem of relative data sparseness

Measuring the height of a ship purely based on lidar still has the problem of inaccuracy

[0005] Moreover, the height of the hull and the water surface position are measured respectively by the laser radar and the water level gauge. Since the laser radar and the water level gauge are installed separately and far apart, it is difficult to accurately determine the height of the laser radar relative to the water level gauge itself; when changing the measurement location, The water level gauge needs to be reinstalled or the lidar needs to be repositioned relative to the water level gauge, causing inconvenience in use

[0006] In short, the existing ship height measurement technology still needs to be improved urgently

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