: In the process of automatic container terminal loading and unloading, the threedimensional attitude of the container affects the security of loading and unloading operations, so the three-dimensional attitude positioning of the container is very important. In this paper, a visual non-contact measurement method is used to realize the real-time orientation of the threedimensional attitude of the container. First, the container corner is coarsely positioned by a smallscale deep learning network. Secondly, the precise position of the container keyhole is obtained by the secondary positioning of the container corner through the traditional image processing
algorithm, and the container posture is measured in three dimensions by combining the physical motion model of the container during loading and unloading. After testing, unlike previous
measurement methods, the measurement accuracy of this method met the requirements of automatic loading and unloading of container terminals, and the measurement time met the
requirements of real-time measurement.