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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.
In the case of ships, the range of the surround-view camera system is much wider than that of cars, where the surround-view camera system is generally applied. Therefore, the number of cameras required to create a surround-view image is more. Furthermore, as the ships have various shapes and sizes, the design of the number, location, and installation angle of the cameras are very complicated that depend on the experience of the expert.
Therefore, this study proposes an optimization method of the number, location, and installation angle of fisheye cameras to improve the quality of surround-view image with the minimum number of fisheye cameras. The number, position, and installation angle of fisheye cameras were set as design variables to formulate an optimization problem for this purpose. Furthermore, a new evaluation method was introduced for the quantitative evaluation of various surround-view images created by the surround-view camera system. This evaluation method compares the created surround-view image with the actual bird’s eye view image. The objective function was to minimize the difference between the surround-view image and the actual bird’s eye view image using the minimum number of fisheye cameras. The virtual environment, including the ship, fisheye cameras, and the area around the port, was made to create fisheye images of various situations for optimization. The virtual environment was implemented in the context of the design variables using Unity 3D. We developed an integrated system that automatically creates a surround-view image based on the fisheye images from the virtual environment and evaluates the quality of the surround-view image. We applied the proposed method to various examples. As a result, it was confirmed that the proposed method could be used for establishing the optimal surround-view camera system.
Publication Date 2022-11-06

In-Chang Yeo, Myung-Il Roh, Hye-Won Lee, "An Optimization Method of the Surround-View Camera System for Automatic Berthing of Ships", Proceedings of G-NAOE(Global Conference on Naval Architecture and Ocean Engineering) 2022, Changwon, Korea, 2022.11.06-10


List of Articles
번호 분류 제목 Publication Date
111 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, Bo-Woo Nam, "Coupled Analysis of the LNG Offloading Operation Based on Multibody Dynamics", Proceedings of PRADS 2022, Dubrovnik, Croatia, 2022.10.09-13 file 2022-10-09
110 International Conference Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, Do-Hyun Chun, "Controller Design of a Gantry Crane for the Safe Erection of Blocks in Shipyards", Proceedings of PRADS 2019, Yokohama, Japan, 2019.09.22-26 file 2019-09-22
109 International Conference Hye-Won Lee, Seung-Ho Ham, Jeong-Woo Hong, Sol Ha, Myung-Il Roh, "Motion Analysis of a Heavy Load Suspended by a Floating Crane Using Constraint-based Wire Rope based on Discrete Variational Method", Proceedings of the 28th Asian-Pacific TEAM 2014 file 2014-10-15
» International Conference In-Chang Yeo, Myung-Il Roh, Hye-Won Lee, "An Optimization Method of the Surround-View Camera System for Automatic Berthing of Ships", Proceedings of G-NAOE 2022, Changwon, Korea, 2022.11.06-10 2022-11-06
107 International Conference Jeong-Ho Park, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Yeong-Min Jo, Nam-Sun Son, "Detection and Tracking Methods of Maritime Obstacles Using Multiple Cameras", Proceedings of ICDM 2022, Siheung, Korea, 2022.04.28-29 2022-04-28
106 International Conference Jeong-Ho Park, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Yeong-Min Jo, Nam-Sun Son, "Obstacle Detection and Tracking of Unmanned Surface Vehicles Using Multi-view Images in Marine Environment", Proceedings of ICCAS 2022, Yokohama, Japan, 2022.09.13-15 2022-09-13
105 International Conference Jeong-Woo Hong, Seung-Ho Ham, Luman Zhao, Xing Li, Sol Ha, Myung-Il Roh, "Offshore Installation of Subsea Equipment Considering Elasticity of the Crane Boom in Harsh Environment", Proceedings of ISOPE 2015, Hawaii, USA, 2014.06.21-26 file 2015-06-23
104 International Conference Ji-Hyun Hwang, Joon-Ho Min, Young-Joo Ahn, Hee-Chang Kim, Myung-Il Roh, Kyu-Yeul Lee, "Optimized Methodology to Build an Integrated Solution to Offshore Topside Process Engineering", Proceedings of ISOPE 2008, Vancouver, Canada, 2008.07.06-11 file 2008-07-06
103 International Conference Ji-Hyun Hwang, Ju-Hwan Cha, Seung-Ho Ham, Bo-Ram Kim, Myung-Il Roh, Kyu-Yeul Lee, "Establishment of Offshore Process FEED Method for Oil-Based FPSO Topsides Systems", Proceedings of ISOPE 2009, Osaka, Japan, pp. 144-150, 2009.06.21-26 file 2009-06-21
102 International Conference Ji-Hyun Hwang, Nam-Kug Ku, Joon-Chae Lee, Myung-Il Roh, Kyu-Yeul Lee, "Optimal Synthesis of LNG FPSO Liquefaction Cycles", Proceedings of ISOPE(International Society of Offshore and Polar Engineers) 2012, Rhodes, Greece, pp. 927-935, 2012.06.17-22 file 2012-06-17
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