{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T03:33:00Z","timestamp":1774927980901,"version":"3.50.1"},"reference-count":25,"publisher":"MDPI AG","issue":"17","license":[{"start":{"date-parts":[[2024,8,23]],"date-time":"2024-08-23T00:00:00Z","timestamp":1724371200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China","award":["52472435"],"award-info":[{"award-number":["52472435"]}]},{"name":"National Natural Science Foundation of China","award":["B2023003"],"award-info":[{"award-number":["B2023003"]}]},{"name":"National Natural Science Foundation of China","award":["22ZR1427700"],"award-info":[{"award-number":["22ZR1427700"]}]},{"name":"Education Science Research Project of Shanghai Municipality","award":["52472435"],"award-info":[{"award-number":["52472435"]}]},{"name":"Education Science Research Project of Shanghai Municipality","award":["B2023003"],"award-info":[{"award-number":["B2023003"]}]},{"name":"Education Science Research Project of Shanghai Municipality","award":["22ZR1427700"],"award-info":[{"award-number":["22ZR1427700"]}]},{"name":"Science and Technology Commission of Shanghai Municipality","award":["52472435"],"award-info":[{"award-number":["52472435"]}]},{"name":"Science and Technology Commission of Shanghai Municipality","award":["B2023003"],"award-info":[{"award-number":["B2023003"]}]},{"name":"Science and Technology Commission of Shanghai Municipality","award":["22ZR1427700"],"award-info":[{"award-number":["22ZR1427700"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>For automated quayside container cranes, accurate measurement of the three-dimensional positioning and attitude of the container spreader is crucial for the safe and efficient transfer of containers. This paper proposes a high-precision measurement method for the spreader\u2019s three-dimensional position and rotational angles based on a single vertically mounted fixed-focus visual camera. Firstly, an image preprocessing method is proposed for complex port environments. The improved YOLOv5 network, enhanced with an attention mechanism, increases the detection accuracy of the spreader\u2019s keypoints and the container lock holes. Combined with image morphological processing methods, the three-dimensional position and rotational angle changes of the spreader are measured. Compared to traditional detection methods, the single-camera-based method for three-dimensional positioning and attitude measurement of the spreader employed in this paper achieves higher detection accuracy for spreader keypoints and lock holes in experiments and improves the operational speed of single operations in actual tests, making it a feasible measurement approach.<\/jats:p>","DOI":"10.3390\/s24175476","type":"journal-article","created":{"date-parts":[[2024,8,23]],"date-time":"2024-08-23T12:58:07Z","timestamp":1724417887000},"page":"5476","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Improved YOLOv5 Network for High-Precision Three-Dimensional Positioning and Attitude Measurement of Container Spreaders in Automated Quayside Cranes"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3078-8305","authenticated-orcid":false,"given":"Yujie","family":"Zhang","sequence":"first","affiliation":[{"name":"Logistics Engineering College, Shanghai Maritime University, Shanghai 201306, China"},{"name":"School of Technology and Architecture, ISCTE-Instituto Universit\u00e1rio de Lisboa, 1649-026 Lisbon, Portugal"}]},{"given":"Yangchen","family":"Song","sequence":"additional","affiliation":[{"name":"Logistics Engineering College, Shanghai Maritime University, Shanghai 201306, China"}]},{"given":"Luocheng","family":"Zheng","sequence":"additional","affiliation":[{"name":"Logistics Engineering College, Shanghai Maritime University, Shanghai 201306, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5055-6347","authenticated-orcid":false,"given":"Octavian","family":"Postolache","sequence":"additional","affiliation":[{"name":"Instituto de Telecomunica\u00e7\u00f5es, ISCTE-Instituto Universit\u00e1rio de Lisboa, 1649-026 Lisbon, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0809-0624","authenticated-orcid":false,"given":"Chao","family":"Mi","sequence":"additional","affiliation":[{"name":"Logistics Engineering College, Shanghai Maritime University, Shanghai 201306, China"},{"name":"Shanghai SMUVision Smart Technology Ltd., Shanghai 201306, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-4471-7765","authenticated-orcid":false,"given":"Yang","family":"Shen","sequence":"additional","affiliation":[{"name":"Shanghai SMUVision Smart Technology Ltd., Shanghai 201306, China"},{"name":"Higher Technology College, Shanghai Maritime University, Shanghai 201306, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,8,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Sun, P., Sun, C., Wang, R., and Zhao, X. 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