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A hardware system comprising fixed cameras and edge computing modules is established, integrated with an adaptive image-enhancement preprocessing algorithm to enhance feature robustness under complex illumination conditions. A multi-scale adaptive frequency object-detection framework is developed based on YOLO11, achieving improved detection accuracy for multi-scale lockhole keypoints in perspective-distortion scenarios (mAP@0.5 reaches 95.1%, 4.7% higher than baseline models) through dynamic balancing of high\u2013low-frequency features and adaptive convolution kernel adjustments. An enhanced EPnP optimization algorithm incorporating lockhole coplanar constraints is proposed, establishing a 2D\u20133D coordinate transformation model that reduces pose-estimation errors to millimeter level (planar MAE-P = 0.024 m) and sub-angular level (MAE-\u03b8 = 0.11\u00b0). Experimental results demonstrate that the proposed method outperforms existing solutions in container pose-deviation-detection accuracy, efficiency, and stability, proving to be a feasible measurement approach.<\/jats:p>","DOI":"10.3390\/s25092760","type":"journal-article","created":{"date-parts":[[2025,4,28]],"date-time":"2025-04-28T06:23:32Z","timestamp":1745821412000},"page":"2760","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["High-Precision Pose Measurement of Containers on the Transfer Platform of the Dual-Trolley Quayside Container Crane Based on Machine Vision"],"prefix":"10.3390","volume":"25","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3907-0757","authenticated-orcid":false,"given":"Jiaqi","family":"Wang","sequence":"first","affiliation":[{"name":"Logistics Engineering College, Shanghai Maritime University, Shanghai 201306, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-0874-9768","authenticated-orcid":false,"given":"Mengjie","family":"He","sequence":"additional","affiliation":[{"name":"Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai 201306, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3078-8305","authenticated-orcid":false,"given":"Yujie","family":"Zhang","sequence":"additional","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"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9257-4092","authenticated-orcid":false,"given":"Zhiwei","family":"Zhang","sequence":"additional","affiliation":[{"name":"Shanghai SMU Vision Co., Ltd., 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 SMU Vision Co., Ltd., Shanghai 201306, China"}]}],"member":"1968","published-online":{"date-parts":[[2025,4,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Shen, Y., Man, X., Wang, J., Zhang, Y., and Mi, C. 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