Abstract
Researches show that 86% of collisions are due to improper lookout despite the existence of many navigational tools on board ship. A stereo imaging system is proposed to improve navigational safety. A ship is in an extremely dynamic environment. There are many parameters which may degrade the system quality such as ship motion (rolling, pitching, and yawing), vibration due to strong winds and structural vibration. In this paper, we focus on applying the system to such a dynamic environment. Firstly, a principle to measure 3D location of an object under unstable conditions on board ship is described. It includes estimating the rolling and pitching angles of the ship to eliminate the negative effects of such movements and calculating the relative camera orientations for accurate 3D calculation of detected objects. Finally, details of sea-sky line detection from sea images to obtain the rolling and pitching angle of the ship is described.
