• ISSN 0258-2724
  • CN 51-1277/U
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Volume 55 Issue 6
Dec.  2020
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Article Contents
Journal of Southwest Jiaotong University  > 2020  >  55(6): 1199-1206.
ZHU Qing, WANG Dengxing, WANG Feng, XIE Xiao, HU Han, HUANG Shuang. Automatic Volume Calculation System for Sand and Gravel Carried by Ship Based on LiDAR Point Cloud[J]. Journal of Southwest Jiaotong University, 2020, 55(6): 1199-1206. doi: 10.3969/j.issn.0258-2724.20181051
Citation: ZHU Qing, WANG Dengxing, WANG Feng, XIE Xiao, HU Han, HUANG Shuang. Automatic Volume Calculation System for Sand and Gravel Carried by Ship Based on LiDAR Point Cloud[J]. Journal of Southwest Jiaotong University, 2020, 55(6): 1199-1206. doi: 10.3969/j.issn.0258-2724.20181051
shu

Automatic Volume Calculation System for Sand and Gravel Carried by Ship Based on LiDAR Point Cloud

doi: 10.3969/j.issn.0258-2724.20181051
  • Received Date: 25 Dec 2018
  • Rev Recd Date: 14 Aug 2019
    • Available Online: 04 Sep 2019
  • Publish Date: 15 Dec 2020
    Abstract
  • The current volume calculation method of sand and gravel carried by ship mainly relies on manual weighing and waybill transfer, which has the problem of low precision and low efficiency. To deal with this, an automatic volume calculation system of sand and gravel carried by ship is developed on the basis of LiDAR (light detection and ranging) point cloud. It uses the cluster analysis and the octree-based point cloud reduction to realize automatic identification and extraction of the point cloud for the target ship in a complex environment. It adopts the coarse registration based on the improved SK-4PCS (semantic-keypoint-based 4-points congruent sets) and fine registration based on the point-to-plane ICP (iterative closest point) to realize the high-efficient registration of no-load and full-load point clouds from coarse to fine level. The experiment is conducted with the data from the gravel transport ships on the Ganjiang River in Nanchang, Jiangxi, showing that the automatic measurement and calculation time of sand and gravel volume for one ship is less than 2 min, the maximum relative error of multiple calculation results is less than 1.00%, and the maximum error between the volume calculation results and real values is less than 2.00%, which meet practical requirements.

     

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