Distance Measurement System using A Stereo Camera and Radial Pattern Target for Automatic Berthing Control

  • Mizuchi, Yoshiaki (Department of Information System Science, Soka University) ;
  • Ogura, Tadashi (Department of Information System Science, Soka University) ;
  • Hagiwara, Yoshinobu (National Institute of Informatics) ;
  • Suzuki, Akimasa (Department of Software and Information Science, Iwate Prefectural University) ;
  • Kim, Youngbok (Department of System Mechanical Engineering, Pukyong National University) ;
  • Choi, Yongwoon (Department of Information System Science, Soka University)
  • Received : 2013.09.22
  • Accepted : 2013.10.06
  • Published : 2013.10.31


In this paper, we propose a distance measurement system for automatic berthing control using a stereo camera mounted on a rotation control device, and a radial pattern target. Automatically controlling the position and attitude of a ship aims to prevent maritime accidents due to human error. Our goal is to measure the relative distance between a ship and an onshore or offshore target for berthing. Therefore, the distance should be continuously measured while tracking a fixed point on a target. To this end, we developed a stereo camerabased distance measurement system that satisfied these requirements. This paper describes the structure and principle of the measurement system. We validate the distance error for target incline due to the relative position and attitude between a camera and a target in miniature scale. In addition, the findings of an experiment in an outdoor environment demonstrate that the proposed measurement system has accuracy within 1 m at a range of 20-100 m which is the acceptable accuracy for automatic berthing.


Automatic Berthing Control;Distance Measurement;Stereo Camera;Template Matching


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