Enhanced Docking Stability of Offshore Gangways Using Lidar Point Cloud and Image Fusion for Pose Measurement

Table 1. Comparison of number of laser point clouds before and after screening
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Table 1. Comparison of number of laser point clouds before and after screening
Point cloud type Number of valid point clouds Number of background point clouds
Primordial point cloud 60072 0
IFEFPS 47332 12740

Table 2. Comparison of laser point cloud detection performance of offshore wind turbine landing platforms before and after lightweighting
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Table 2. Comparison of laser point cloud detection performance of offshore wind turbine landing platforms before and after lightweighting
Target detection algorithm AP /% Quantity of participants /10⁶ Detection speed /（frame/s）
PointPillars 72.595 4.8 10.6
Light weight PointPillars 71.946 3.7 13.1

Table 3. Results of ablation experiments

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Table 3. Results of ablation experiments

PointPillars （lightweight）	Point cloud channel importance	Point cloud and image fusion	IFEFPS	C2f-PaBiF	box	bev	3d	AP
√					72.009	72.863	70.967	71.946
√	√				73.395	74.985	71.524	73.301
√		√			75.670	76.378	74.548	75.532
√		√	√		74.754	76.852	72.342	74.649
√		√	√	√	80.893	83.126	80.811	81.610

Table 4. Performance comparison experiments of different algorithms
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Table 4. Performance comparison experiments of different algorithms
Algorithm box bev 3d AP
MV3D 72.480 73.972 71.979 72.810
AVOD 74.611 75.393 72.316 74.106
Proposed algorithm 80.893 83.126 80.811 81.610

Table 5. Alignment performance comparison of different algorithms
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Table 5. Alignment performance comparison of different algorithms
Algorithm Index Pitch error Roll error Yaw error
FGR RMSE 1.753 1.239 1.480
FGR+CCV RMSE 1.259 1.042 1.116
FGR+CCV+
Mahalanobis criterion
RMSE 0.897 0.844 0.851
Proposed algorithm RMSE 0.721 0.664 0.698

Table 6. Comparison of pitch angle errors of different algorithms
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Table 6. Comparison of pitch angle errors of different algorithms
Index ICP NDT-ICP Proposed algorithm
Pitch RMSE /（°） 0.952 0.760 0.676
Roll RMSE /（°） 0.786 0.673 0.613
Yaw RMSE /（°） 0.947 0.682 0.628

Table 7. Comparison of pitch angle errors of different algorithms
View table
Table 7. Comparison of pitch angle errors of different algorithms
Index ICP NDT-ICP Proposed algorithm
Pitch RMSE /（°） 0.807 0.712 0.637
Roll RMSE /（°） 0.587 0.438 0.375
Yaw RMSE /（°） 0.702 0.523 0.419

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Zheyu Hu, Lijie Zhang, Ze Xu, Honglei Fan, Lingfeng Han. Enhanced Docking Stability of Offshore Gangways Using Lidar Point Cloud and Image Fusion for Pose Measurement[J]. Laser & Optoelectronics Progress, 2025, 62(6): 0612007

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