Abstract
Generally, the port is very crowded with towing ships and ships that enter and depart. The crowded environment could cause difficulties in the berthing process which requires precise control. In addition, especially in the case of large ships, the visibility is very limited, and even a small collision of a ship can lead to a significant accident. Therefore, a surround-view camera system can be helpful to recognize the surrounding environment of a ship during the berthing process. A surround-view camera system refers to a system that produces a new viewpoint as if looking down around an object from the sky using images acquired by the multiple cameras attached around the object. Generally, fisheye cameras with a wide viewing angle are used for a surround-view camera system.