About 70% of all marine accidents in 2014 are caused by small vessels, and about 40% of fishing vessels' accidents are collisions. Small vessels are not obliged to equip with AIS (Automatic Identification System), and radar is not equipped, so visual which is mainly used for grasping the circumstances surrounding own vessel. In this paper, we put two fisheye cameras on a small vessel, and make a 3 dimensional map generation system of the narrow waterway, furthermore calculate the distance to objects around own vessel from all round images. We make the map based on the bow direction image which transformed from all round image beforehand. The view area of the map is updated based on GPS to acquire during the navigation. The distance information to the object which we calculated displays the panoramic images which transformed from all round images. The distance calculation sets the domain of 16 directions for all round images and handles it in real time. We displayed them to 1 screen which supports watching, and evaluated it.
