Low-cost precise motion detection of a moored vessel using vision cameras and LiDAR complementary validation
OCEAN ENGINEERING, cilt.364, 2026 (SCI-Expanded, Scopus)
- Yayın Türü: Makale / Tam Makale
- Cilt numarası: 364
- Basım Tarihi: 2026
- Doi Numarası: 10.1016/j.oceaneng.2026.127121
- Dergi Adı: OCEAN ENGINEERING
- Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Applied Science & Technology Source, Compendex, Environment Index, Geobase, ICONDA Bibliographic, INSPEC, The International Construction Database (ICONDA), Academic Search Ultimate (EBSCO), Engineering Source (EBSCO)
- Dokuz Eylül Üniversitesi Adresli: Evet
Özet
This study presents integrated research system designed for precise measurements using a set of two vision cameras, an optical marker system, and LiDAR. The system was developed to measure the hull movements of a moored vessel in four degrees of freedom with high accuracy and high frequency. The system was developed using computer vision (CV) methods, incorporating two temporally synchronized GoPro cameras, ArUco markers, a vision data processing algorithm based on the OpenCV library, and 2.5D LiDAR. LiDAR was primarily used to improve the accuracy of sway (lateral motion) measurements, which were expected to be more inaccurate when relying solely on the camera system. The primary objective of the system development was to verify and calibrate the Optimoor software for mooring efficiency assessment through real-world experiments. Under static reference conditions, such as stable lighting conditions, the camera-based subsystem achieved an average measurement accuracy of +/- 1 cm at a sampling frequency of 120 Hz; in less favorable lighting, the deviation may increase up to 6.4 cm. A very strong positive association was observed between the camera- and LiDAR-based distance measurements. The results demonstrate that the proposed low-cost system provides reliable full-scale measurements of moored vessel motion for hydrodynamic model validation.