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Author(s)

Yoshinobu Hagiwara, Akio Kita, Akimasa Suzuki, Yongwoon Choi, and Kazuhiro Watanabe

Affiliation(s)

ABSTRACT

This paper describes target detection improvement in a distance measurement system using two rotatable cameras for floating production, storage and offloading (FPSO) facilities. The authors have developed a distance measurement system that consists of two rotatable cameras on a ship and a target on a wharf for the automatic berthing of ships. This system measures a distance by detecting and tracking the target on the wharf using the two rotatable cameras on the ship. Our goal is to apply this distance measurement system to an automatic relative positioning system for a ship at an FPSO facility. In this application, the shape of the target in the images captured by the cameras is deformed by their relative positions and attitudes, which increases the measurement errors. To solve this problem, we propose a target detection method that improves the target deformations. The proposed target detection method is able to detect the deformed targets using a target database that is created by image conversion with the perspective projection of a reference target. By using the proposed target detection method, the distance measurement error is decreased. Experimental results on a miniature scale and in an indoor environment confirmed that the measurement error of the relative distance is decreased by using the proposed target detection method.

KEYWORDS

Distance measurement, stereo camera, image matching, database, ship

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