Cyber-Physical System for Terminal Infrastructure Monitoring: A Depth-Free Registration Framework via Geometric-Model Fusion

The monitoring and security of large-scale terminal infrastructures represent a critical application domain for industrial cyber-physical systems. However, real-time 3D visualization in such environments faces significant challenges from dense crowds, specular reflections, and complex architectural layouts. This paper presents a cyber-physical system for terminal infrastructure monitoring, underpinned by a novel, depth-free camera registration framework. At its core, the system establishes explicit geometric mappings across four coordinate systems (world, 3D model, camera, image), leveraging known installation parameters to eliminate dependency on depth sensors. Dynamic inconsistencies are resolved through a multi-stage layout refinement process, enabling robust operation under terminal-specific challenges. The framework maintains real-time performance at over 25 FPS when processing 16 concurrent video streams on commercial hardware. Extensive evaluations demonstrate a 44.9% reduction in registration error compared to state-of-the-art methods, validating the system’s practicality for enhancing situational awareness and security in large-scale, dynamic terminals.