Port Structure Inspection Based on 6-DOF Displacement Estimation Combined with Homography Formulation and Genetic Algorithm

Abstract

A vision sensor-based 6-DOF displacement evaluation method incorporating a genetic algorithm was proposed to monitor the critical defects of port infrastructure, such as deflection, slope, and slip. The 6-DOF behavior of the port structure, including subsidence, was estimated based on the specification of the target and fixed structures nearby. The method calculates the relative position of the target port structure and measures the movement of the structure over time. To improve the measurement accuracy, a genetic algorithm was used to adjust the intrinsic parameters that were previously estimated using the checkerboards. The results of measuring 6-DOF displacements based on the tuned intrinsic parameters confirmed that it has the potential to accurately measure the 6-DOF behavior of port facilities. The possibility of field application was examined through an artificial movement that was induced in the image of the port facility to create an arbitrary displacement between two points.