# A berthing state estimation pipeline based on 3D point cloud scan-matching and berth line fitting

> Research article (Measurement, 2024) · cited 14× · AI/ML

**Wikidata**: [openalex:W4391151141](https://www.wikidata.org/wiki/openalex:W4391151141)  
**Source**: https://4ort.xyz/entity/a-berthing-state-estimation-pipeline-based-on-3d-point-cloud-scan-matching-and-berth-line-fitting