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Vol. 166, Issue 3, March 2014, pp. 190-196




A Container Horizontal Positioning Method with Image Sensors for Cranes in Automated Container Terminals

1 FU Yonghua, 1 WANG Xuefeng, 2 MI Chao, 1 BIAN Zhicheng

1 Logistic Research Center
2 Container Supply Chain Tech. Engineering Research Center Shanghai Maritime University 1550 Haigang Avenue, Shanghai, 201306, China

E-mail: smubzc@163.com



Received: 30 December 2013 /Accepted: 28 February 2014 /Published: 31 March 2014

Digital Sensors and Sensor Sysstems


Abstract: Automation is a trend for large container terminals nowadays, and container positioning techniques are key factor in the automating process. Vision based positioning techniques are inexpensive and rather accurate in nature, while the effect with insufficient illumination is left in question. This paper proposed a vision-based procedure with image sensors to determine the position of one container in the horizontal plane. The points found by the edge detection operator are clustered, and only the peak points in the parameter space of the Hough transformation is selected, in order that the effect of noises could be much decreased. The effectiveness of our procedure is verified in experiments, in which the efficiency of the procedure is also investigated.


Keywords: Container horizontal positioning, Automated container terminal, Machine vision, Image processing, Hough transform.


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