Abstract: Described herein are systems, methods, and structures for transferring an object between a ship and an offshore structure, comprising a hoisting mechanism arranged on the offshore structure and adapted to attach to the object, at least one range sensing device adapted to provide data relating to a detected distance from a reference point on the offshore structure to the ship, where the system is adapted to receive the data from the at least one range sensing device and to move the hoisting cable in response to the detected distance, and a motion reference unit adapted to provide data relating to a detected motion of the ship independently of the at least one range sensing device, and wherein the system is adapted to move the hoisting cable in response to the detected motion of the ship.