METHOD AND SYSTEM FOR MARINE LOADING, COMPUTER READABLE MEDIUM AND COMPUTER PROGRAM FOR A MARINE LOADING SYSTEM

摘要

The present invention discloses a method for marine loading, the method comprising: providing a marine loading system comprising: a marine loading arm, at least one fluid transfer line provided with a coupling device, at least one actuator being adapted to move the marine loading arm and to position the coupling device and a imaging system configured to capture a plurality of images. The method further comprises: - receiving image data associated with the plurality of images of a scene; - constructing, based on the image data, a representation of an object in the scene; - determining whether the object represents an open target duct being present in the scene; - determining an estimated position of the open target duct with respect to the coupling device or the imaging system; - constructing a 3D representation of the open target duct; - determining a characteristic property of the open target duct, based on matching the 3D representation of the open target duct with a plurality of predetermined 3D representations comprising 3D representations of open target ducts with predetermined characteristic properties; - determining whether the coupling device is compatible with the open target duct; and - moving the coupling device towards the open target duct.