Marine camera device optimized for marine environment

Abstract

Disclosed is a marine camera device optimized for a marine environment. The marine camera device may comprise: optical cameras for capturing optical images in different directions; infrared cameras for capturing thermal images in different directions; a body case having a plurality of camera holes formed on each of the front, right, and left surfaces thereof; and an integrated bracket inserted into the body case while the optical cameras and the infrared cameras are coupled to the upper surface thereof, wherein the integrated bracket is coupled to the optical cameras and the infrared cameras such that at least one of the optical cameras and at least one of the infrared cameras are disposed on each of the front, right, and left surfaces of the body case.

Description

Marine camera device optimized for marine environments

[0001] The present invention relates to a marine camera device optimized for marine environments, and more specifically, to a marine camera device capable of perceiving the situation in marine environments both day and night.

[0002] Due to the nature of the maritime environment, situations with poor visibility frequently occur, and there are instances where ships must navigate even in adverse weather conditions.

[0003] When a vessel navigates in adverse weather conditions, it relies on radar reflections from surrounding objects; however, if a hazardous object is not detected by radar or exists at close range (from the vicinity of the vessel to several hundred meters) within a radar blind spot, the risk of collision cannot be effectively notified to the user, significantly increasing the danger.

[0004] Conventional marine cameras had difficulty determining the consistency of each piece of information because they positioned daytime optical cameras (EO, electro-optical) and nighttime infrared cameras (IR, infrared) at different heights and locations.

[0005] Therefore, there is a demand for a marine camera device that reduces errors occurring during the alignment process between optical and thermal images.

[0006] The present invention provides a marine camera device to replace human lookout by widely distributing optical cameras to satisfy the 225-degree lookout requirement of the Safety of Life at Sea Convention (SOLAS) and designing an external camera module suitable for harsh marine environments according to the distributed optical cameras.

[0007] In addition, the present invention provides a maritime camera device that reduces errors occurring during the alignment process of optical images and thermal images by horizontally arranging an optical camera and an infrared camera in each direction, thereby capturing optical images and thermal images at the same direction and height.

[0008] In addition, the present invention includes an Ethernet communication module that transmits images transmitted by cameras via a USB cable to a server on a ship equipped with a marine camera device using Ethernet communication, and by allowing the ship's server to process the images, it provides a camera device with high operational reliability compared to conventional camera devices, which are susceptible to errors caused by thermal temperature conditions in a marine environment and unstable voltage conditions during the process of processing images with an embedded processor.

[0009] Furthermore, the present invention provides a marine camera device capable of reducing crew fatigue and preventing navigation accidents by using a panoramic image generated by aligning optical and thermal images to observe the surrounding environment of a ship, and by performing tracking monitoring of specific objects using a PTZ camera.

[0010] In addition, the present invention provides a marine camera device in which the calibration error of the image is reduced and the precision is improved by arranging the optical camera, the infrared camera, and the PTZ camera on the same axis, thereby facilitating the finding of the coordinates of objects within a panoramic image.

[0011] The present invention provides a marine camera device that facilitates maintenance of a PTZ camera by including a structure that allows the PTZ camera to be easily attached and detached.

[0012] In addition, the present invention provides a marine camera device in which an optical camera and an infrared camera are combined and an integrated bracket is inserted into a main body case formed as a single layer structure, thereby allowing the optical camera and the infrared camera to be serviced simply by removing the integrated bracket during maintenance.

[0013] Furthermore, the present invention provides a method for stabilizing a panoramic image by projecting optical images or thermal images onto a cylindrical coordinate system plane to generate a panoramic image, so that a discontinuous state does not occur in the matching area of ​​the panoramic image even when the orientation of the optical cameras and infrared cameras is changed by the rolling of the ship.

[0014] A marine camera device according to one embodiment of the present invention comprises: optical cameras for capturing optical images in different directions; infrared cameras for capturing thermal images in different directions; a main body case having a plurality of camera holes formed on the front, right side, and left side, respectively; and an integrated bracket inserted into the main body case with the optical cameras and the infrared cameras combined on the upper surface, wherein the optical cameras and the infrared cameras may be combined such that at least one of the optical cameras and at least one of the infrared cameras are positioned on the front, right side, and left side, respectively, of the main body case.

[0015] The integrated bracket of the marine camera device according to one embodiment of the present invention is coupled with an Ethernet communication module that outputs information received via a USB (Universal Serial Bus) cable via Ethernet communication, and the Ethernet communication module can transmit thermal images transmitted by the infrared cameras via a USB cable and optical images transmitted by the optical cameras via a USB cable to a server on a vessel where the marine camera device is installed using Ethernet communication.

[0016] The server of the marine camera device according to one embodiment of the present invention can generate a panoramic image by projecting the optical images and the thermal images onto a cylindrical coordinate system plane.

[0017] The integrated bracket of the marine camera device according to one embodiment of the present invention may further include an IMU (Inertial Measurement Unit) that measures the movement of a vessel on which the marine camera device is installed and outputs the measured result as IMU sensor data.

[0018] The panoramic image can be corrected based on the IMU sensor data of the marine camera device according to one embodiment of the present invention.

[0019] A marine camera device according to one embodiment of the present invention further includes a sun visor coupled to the upper part of the main body case, and the sun visor may be manufactured with an aerodynamic shape that takes into account wind resistance.

[0020] The main body case of a marine camera device according to one embodiment of the present invention may have an engraved pattern for heat dissipation formed on its upper surface.

[0021] The main body case of a marine camera device according to one embodiment of the present invention may include a camera waterproof structure in which a waterproof sealing of the hole, a transparent window, a waterproof sealing of the transparent window, and a fixing case are sequentially coupled to the front of each of the camera holes.

[0022] A marine camera device according to one embodiment of the present invention further includes a stand for fixing the main body case to a ship, wherein the stand includes a plurality of horizontal rotation holes formed long in a horizontal rotation direction on an upper surface, and a bolt passing through the horizontal rotation holes is inserted and coupled into a hole formed in the lower part of the main body, and the range of horizontal rotation of the stand may be determined according to the length of the horizontal rotation holes.

[0023] The tilting part of a marine camera device according to one embodiment of the present invention includes a plurality of tilting holes formed according to a tilting angle in the coupling plate, and a bolt passing through the tilting holes is inserted and coupled to the vertical plate of the horizontal rotation part, and the tilting range of the stand can be determined according to the length and shape of the tilting holes.

[0024] An image stabilization method for a marine camera device according to an embodiment of the present invention includes the steps of: receiving camera images generated by the cameras of the marine camera device from the marine camera device; and projecting the camera images onto a cylindrical coordinate system plane to generate a panoramic image, wherein the marine camera device may have at least one optical camera and at least one infrared camera disposed on the front, right side, and left side of a main body case, respectively.

[0025] The camera images of the image stabilization method of a marine camera device according to one embodiment of the present invention may include at least one of optical images generated by the optical cameras capturing different directions and thermal images generated by the infrared cameras capturing different directions.

[0026] A method for image stabilization of a marine camera device according to one embodiment of the present invention further comprises: a step of identifying whether the surrounding environment of a vessel on which the marine camera device is installed is rough water; and a step of correcting the panoramic image based on IMU sensor data when the surrounding environment of the vessel on which the marine camera device is installed is not rough water, wherein the IMU sensor data may be generated by the Inertial Measurement Unit (IMU) of the marine camera device measuring the movement of the vessel on which the marine camera device is installed.

[0027] The step of correcting based on the IMU sensor data of the image stabilization method for a marine camera device according to one embodiment of the present invention can correct the panoramic image by applying a coordinate transformation between the individual camera coordinate system of each of the optical cameras and infrared cameras and the origin coordinate system of the vessel on which the marine camera device is installed, based on the IMU sensor data, to the panoramic image.

[0028] An image stabilization method for a marine camera device according to one embodiment of the present invention may further include the step of generating a Surround View Monitoring (SVM) image using the camera images; and the step of correcting the SVM image based on the IMU sensor data.

[0029] According to one embodiment of the present invention, by widely distributing optical cameras to satisfy the 225-degree lookout requirement of the SOLAS Convention and designing an external camera module suitable for harsh marine environments according to the distributed optical cameras, a marine camera device to replace human lookout can be provided.

[0030] In addition, according to one embodiment of the present invention, by horizontally arranging an optical camera and an infrared camera in each direction, an optical image and a thermal image can be captured at the same direction and at the same height, thereby providing a marine camera device that reduces errors occurring during the alignment process of the optical image and the thermal image.

[0031] In addition, according to one embodiment of the present invention, an Ethernet communication module is included to transmit images transmitted by cameras via a USB cable to a server on a ship equipped with a marine camera device using Ethernet communication, and by allowing the server on the ship to process the images, a camera device with high operational reliability can be provided compared to a conventional camera device in which errors may occur due to thermal temperature conditions in a marine environment and unstable voltage conditions during the process of processing images with an embedded processor.

[0032] In addition, according to one embodiment of the present invention, by using a panoramic image generated by aligning an optical image and a thermal image to observe the surrounding environment of the ship and performing tracking monitoring of a specific object with a PTZ camera, it is possible to reduce crew fatigue and prevent navigation accidents.

[0033] In addition, according to one embodiment of the present invention, by arranging the optical camera, the infrared camera, and the PTZ camera on the same axis, the image calibration error is reduced and the precision is improved, thereby making it easier to find the coordinates of objects within the panoramic image.

[0034] The present invention includes a structure that allows the PTZ camera to be easily attached and detached, thereby facilitating maintenance of the PTZ camera.

[0035] In addition, according to one embodiment of the present invention, by inserting an integrated bracket combining an optical camera and an infrared camera into a main body case formed as a single layer structure, the optical camera and the infrared camera can be serviced simply by removing the integrated bracket during maintenance, thereby making maintenance easier compared to conventional camera devices in which cameras are each placed in a multi-layer structure.

[0036] In addition, according to one embodiment of the present invention, by generating a panoramic image by projecting optical images or thermal images onto a cylindrical coordinate system plane, the panoramic image can be stabilized so that a discontinuous state does not occur in the matching area of ​​the panoramic image even if the orientation of the optical cameras and infrared cameras is changed by the rolling of the ship.

[0037] FIG. 1 is a drawing illustrating a marine camera device according to an embodiment of the present invention.

[0038] FIG. 2 is a drawing showing the detailed configuration of a marine camera device according to an embodiment of the present invention.

[0039] FIG. 3 is a drawing illustrating a waterproof structure of a camera for marine use according to an embodiment of the present invention.

[0040] FIG. 4 is a drawing illustrating the detailed configuration of the shooting unit of a marine camera device according to an embodiment of the present invention.

[0041] FIG. 5 is a drawing showing the lower view of a marine camera device according to an embodiment of the present invention.

[0042] Figure 6 is an example of a panoramic image generated by a conventional marine camera device.

[0043] FIG. 7 is a drawing showing a ship equipped with a marine camera device according to an embodiment of the present invention.

[0044] FIG. 8 is a diagram illustrating the process of a marine camera device generating a panoramic image according to an embodiment of the present invention.

[0045] FIG. 9 is an example of a process in which a server of a ship equipped with a marine camera device according to an embodiment of the present invention corrects an SVM image.

[0046] FIG. 10 is an example of an SVM image captured by a marine camera device according to an embodiment of the present invention.

[0047] FIG. 11 is an example of an image corrected by a server of a ship equipped with a marine camera device according to an embodiment of the present invention based on IMU sensor data, in the SVM image of FIG. 10.

[0048] FIG. 12 is a flowchart illustrating an image stabilization method for a marine camera device according to an embodiment of the present invention.

[0049] FIG. 13 is a drawing illustrating a marine camera device according to a second embodiment of the present invention.

[0050] FIG. 14 is a drawing illustrating the structure of a PTZ camera stand for a marine camera device according to a second embodiment of the present invention.

[0051] FIG. 15 is an example of a process of combining a PTZ camera with a marine camera device according to a second embodiment of the present invention.

[0052] FIG. 16 is an example of a rubber base coupled to a PTZ camera in a marine camera device according to a second embodiment of the present invention.

[0053] FIG. 17 is an example of the specifications of a stand for a marine camera device according to a second embodiment of the present invention.

[0054] FIG. 18 is a drawing illustrating a marine camera device according to a third embodiment of the present invention.

[0055] FIG. 19 is a drawing showing the detailed configuration of the main body of a marine camera device according to the third embodiment of the present invention.

[0056] FIG. 20 is a drawing illustrating a sun visor of a marine camera device according to a third embodiment of the present invention.

[0057] FIG. 21 is a drawing showing the state in which cameras are arranged on an integrated bracket of a marine camera device according to a third embodiment of the present invention.

[0058] FIG. 22 is a drawing illustrating a marine camera device according to the fourth embodiment of the present invention.

[0059] FIG. 23 is a drawing showing the rear of a marine camera device according to the fourth embodiment of the present invention.

[0060] FIG. 24 is a drawing illustrating the structure of a stand for a marine camera device according to the fourth embodiment of the present invention.

[0061] FIG. 25 is an example of the specifications of each of the components of a marine camera device according to the fourth embodiment of the present invention.

[0062] FIG. 26 is a drawing illustrating a marine camera device according to the fifth embodiment of the present invention.

[0063] In the following, embodiments are described in detail with reference to the attached drawings. However, various modifications may be made to the embodiments, and thus the scope of the patent application is not limited or restricted by these embodiments. It should be understood that all modifications, equivalents, and substitutions to the embodiments are included within the scope of the rights.

[0064] The terms used in the embodiments are for illustrative purposes only and should not be interpreted as intended to be limiting. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as "comprising" or "having" are intended to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0065] In addition, when describing with reference to the attached drawings, identical components are assigned the same reference numeral regardless of drawing symbols, and redundant descriptions thereof are omitted. In describing the embodiments, if it is determined that a detailed description of related prior art could unnecessarily obscure the essence of the embodiments, such detailed description is omitted.

[0066] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0067] FIG. 1 is a drawing illustrating a first embodiment of a marine camera device according to an embodiment of the present invention.

[0068] A marine camera device according to one embodiment of the present invention may be composed of a main body (110) and a stand (120) that fixes the main body (110) to a ship.

[0069] FIG. 2 is a drawing showing the detailed configuration of the main body (110) of a marine camera device according to an embodiment of the present invention.

[0070] The main body (110) may be composed of a main body case (210), a main body bottom surface (220), and a shooting unit (240).

[0071] The main body case (210) is formed as a single-layer structure as shown in FIG. 2, and a plurality of camera holes may be formed on the front, right side, and left side, respectively. At this time, the right side and left side of the main body case (210) may be formed such that the angle from the right side to the left side is 225 degrees or more. In addition, an engraved pattern (211) for heat dissipation may be formed on the upper surface of the main body case (210) as shown in FIG. 2.

[0072] The lower surface of the main body (220) may have a shooting unit (240) attached to the middle of the upper surface, and the main body case (210) may be attached to the outer edge of the upper surface. Additionally, the lower part of the lower surface of the main body (220) may be attached to a stand (120). Furthermore, the lower surface of the main body (220) may be manufactured so that a portion of the lower surface is open to expose the interface of the shooting unit (240).

[0073] The sun visor (230) is attached to the upper part of the main body case (210) to form shade on the main body case (210) and prevent sunlight from shining directly on the main body case (210), thereby preventing the shooting unit (240) from overheating. The sun visor (230) can be manufactured with an aerodynamic shape that takes into account wind resistance. Specifically, as shown in FIG. 2, the sun visor (230) is manufactured with a structure that is flat without a step in the front-rear direction, and has a step formed in the left-right direction with the central part protruding upward, thereby minimizing the lift force generated by the wind blowing from the front of the main body (110).

[0074] The shooting unit (240) may include optical cameras and infrared cameras. The shooting unit (240) may generate panoramic images based on images captured by the optical cameras and infrared cameras. At this time, the generated panoramic images may be transmitted to a server on a vessel equipped with a marine camera device through the interface of the shooting unit (240).

[0075] FIG. 3 is a drawing illustrating a waterproof structure of a camera for marine use according to an embodiment of the present invention.

[0076] A waterproof camera structure can be formed by sequentially combining a waterproof sealing (310) of the hole, a transparent window (320), a waterproof sealing (330) of the transparent window, and a fixing case (340) on the front of each camera hole formed in the main body case (210). Additionally, by fitting a rubber cover (350) on the front of the fixing case (340), the bolts used to connect the fixing case (340) to the camera hole can be prevented from being exposed.

[0077] At this time, a groove to which camera waterproof structures are to be attached may be formed on the front of each camera hole of the main body case (210) according to the area of ​​the fixed case (340) as shown in FIG. 4. In addition, the depth of the groove to which the camera waterproof structures are to be attached may be the thickness of the waterproof sealing (310) of the hole + the thickness of the fixed case (340) + the thickness of the rubber cover (350).

[0078] FIG. 4 is a drawing illustrating the detailed configuration of the shooting unit of a marine camera device according to an embodiment of the present invention.

[0079] The shooting unit (240) may be composed of an integrated bracket (480) having optical cameras (410, 430, 450) and infrared cameras (420, 440, 460) combined on the upper surface.

[0080] Optical cameras (410, 430, 450) can capture optical images in different directions. In addition, infrared cameras (420, 440, 460) can capture thermal images in different directions.

[0081] The integrated bracket (480) may be configured such that at least one of the optical cameras (410, 430, 450) and at least one of the infrared cameras (420, 440, 460) are positioned on the front, right side, and left side of the main body case (210), respectively, so that the optical cameras (410, 430, 450) and the infrared cameras (420, 440, 460) are combined.

[0082] Specifically, by combining an optical camera (410) and an infrared camera (420) at the position of an integrated bracket (480) corresponding to two camera holes on the front of the main body case (210), the optical camera (410) and the infrared camera (420) can each capture an optical image and a thermal image of the front of the marine camera device. Additionally, by combining an optical camera (430) and an infrared camera (440) at the position of an integrated bracket (480) corresponding to two camera holes on the right side of the main body case (210), the optical camera (430) and the infrared camera (440) can each capture an optical image and a thermal image of the right side of the marine camera device. And, by combining an optical camera (450) and an infrared camera (460) at the position of an integrated bracket (480) corresponding to two camera holes on the left side of the main body case (210), the optical camera (450) and the infrared camera (460) can each capture an optical image and a thermal image of the left side of the marine camera device.

[0083] In other words, by horizontally arranging an optical camera and an infrared camera in each direction, the marine camera device can capture optical images and thermal images from the same direction and at the same height.

[0084] At this time, the spacing between the optical cameras (410, 430, 450) and the infrared cameras (420, 440, 460) may all be the same, or they may differ depending on the type of camera. Specifically, the arrangement of the optical cameras (410, 430, 450) and the infrared cameras (420, 440, 460) may be determined by considering the characteristic that the field of view of the optical camera is larger than the field of view of the infrared camera. For example, since the angle between the optical camera (410) and the optical camera (450) is influenced by the field of view of the optical camera, and the angle between the infrared camera (420) and the infrared camera (440) is influenced by the field of view of the infrared camera, the optical camera (410) and the optical camera (450) may be arranged so that the angle between the optical camera (410) and the optical camera (450) is smaller than the angle between the infrared camera (420) and the infrared camera (440). Additionally, the infrared camera (420) and the infrared camera (440) may be positioned such that the angle between the infrared camera (420) and the infrared camera (440) is greater than the angle between the optical camera (410) and the optical camera (450).

[0085] In addition, an IMU (Inertial Measurement Unit) (470) for measuring the movement of a ship equipped with a marine camera device can be combined with the integrated bracket (480).

[0086] The IMU (470) can measure the movement of a ship equipped with a marine camera device and output the measured result as IMU sensor data.

[0087] At this time, the integrated bracket (480) can be manufactured so that cameras of the same type are placed adjacently. Specifically, as shown in FIG. 4, the optical camera (410) and the optical camera (450) are placed adjacently, and the infrared camera (420) and the infrared camera (440) are placed adjacently, thereby securing a placement space for the IMU (470) and IR conversion boards (425, 445, 465).

[0088] The IR conversion board (425) is connected to the infrared camera (420) and can generate a thermal image of the infrared camera (420) by converting the infrared signal output from the infrared camera (420) into a digital signal. Additionally, the IR conversion board (445) is connected to the infrared camera (440) and can generate a thermal image of the infrared camera (440) by converting the infrared signal output from the infrared camera (440) into a digital signal. Furthermore, the IR conversion board (465) is connected to the infrared camera (460) and can generate a thermal image of the infrared camera (460) by converting the infrared signal output from the infrared camera (460) into a digital signal.

[0089] The IR conversion boards (425, 445, 465) are connected to an Ethernet communication module via a USB cable and can transmit thermal images to the Ethernet communication module via the USB cable. According to an embodiment, an IR conversion board may be embedded in each of the infrared cameras (420, 440, 460), and the infrared cameras (420, 440, 460) may transmit thermal images to the Ethernet communication module via a USB cable.

[0090] Additionally, an Ethernet communication module that outputs information received via a USB (Universal Serial Bus) cable via Ethernet communication may be combined with the integrated bracket (480). At this time, the Ethernet communication module can transmit thermal images transmitted via USB cables by infrared cameras (420, 440, 460) and optical images transmitted via USB cables by optical cameras (410, 430, 450) to a server on a vessel equipped with a marine camera device using Ethernet communication. The server on the vessel equipped with the marine camera device may be an object detection device that detects objects located on the water surface using optical images captured by optical cameras (410, 430, 450) and thermal images captured by infrared cameras (420, 440, 460), or a server equipped with an object detection program.

[0091] The Ethernet communication module can issue a synchronized timestamp and, based on the timestamp, synchronize and output optical images captured by optical cameras (410, 430, 450), thermal images captured by infrared cameras (420, 440, 460), and IMU sensor data output by the IMU (470).

[0092] The integrated bracket (480) may include a processor that outputs optical images captured by optical cameras (410, 430, 450) and thermal images captured by infrared cameras (420, 440, 460) with horizon correction or stabilization.

[0093] A processor in the server of a vessel equipped with a marine camera device can generate a panoramic image by projecting optical images captured by optical cameras (410, 430, 450) and thermal images captured by infrared cameras (420, 440, 460) onto a cylindrical coordinate system plane. Additionally, the processor can identify the surrounding environment of the vessel equipped with the marine camera device. If the surrounding environment of the vessel equipped with the marine camera device is not rough seas, the processor can correct the panoramic image based on IMU sensor data and then output it. Furthermore, if the surrounding environment of the vessel equipped with the marine camera device is rough seas, the processor can output the panoramic image without correction. Rough seas is a weather classification that refers to a dangerous sea condition characterized by high waves.

[0094] FIG. 5 is a drawing showing the lower view of a marine camera device according to an embodiment of the present invention.

[0095] The interface (510) of the imaging unit (240) is configured to be connected to an Ethernet communication cable, and in FIG. 5, it is exposed to the outside through an open space at the bottom of the main body bottom surface (220), but depending on the embodiment, it may be exposed to the outside through the rear or side of the main body case (210). For example, the interface (510) may be composed of seven sockets for outputting optical images captured by optical cameras (410, 430, 450), thermal images captured by infrared cameras (420, 440, 460), and IMU sensor data output by the IMU (470).

[0096] The upper surface of the stand (120) may include a plurality of horizontal rotation holes (520) formed in a horizontal rotation direction as shown in FIG. 5. A bolt (530) passing through the horizontal rotation holes (520) may be inserted and coupled into a hole formed in the lower part of the lower surface (220) of the main body. At this time, the range of horizontal rotation of the stand (120) may be determined according to the length and degree of curvature of the horizontal rotation holes (520).

[0097] Figure 6 is an example of a panoramic image generated by a conventional marine camera device.

[0098] A panoramic image generated by a conventional marine camera device is created by synthesizing an image (610) captured by a left camera, an image (620) captured by a central camera, and an image (630) captured by a right camera. At this time, by including an overlapping alignment area (640) between the image (610) and the image (620), and an overlapping alignment area (650) between the image (620) and the image (630), the occurrence of discontinuities in the image is prevented.

[0099] However, if rolling occurs as the ship shakes due to waves, a difference in the sea level in each of the images captured by the left camera (610), the central camera (620), and the right camera (630) may occur, which may cause problems in the panoramic image.

[0100] For example, if the ship is tilted to the left by waves, the left camera moves closer to the sea surface compared to the state where no rolling occurs, so the sea surface included in the image (610) may be at a higher position compared to the sea surface where no rolling occurs. Also, since the right camera moves further away from the sea surface compared to the state where no rolling occurs, the sea surface included in the image (630) may be at a lower position compared to the sea surface where no rolling occurs. Furthermore, since the front camera takes pictures while tilted according to the angle of the ship, the sea surface included in the image (610) may have a slope according to the angle of the ship.

[0101] Accordingly, the sea surface of the panoramic image generated by synthesizing images (610), (620), and (630) while the ship is tilted to the left by waves may have discontinuous states in the matching area (640) and matching area (650) as shown in FIG. 6.

[0102] FIG. 7 is a drawing showing a ship equipped with a marine camera device according to an embodiment of the present invention.

[0103] A server (720) may be installed on a vessel (700) on which a marine camera device (710) is installed. The processor of the server (720) can generate a panoramic image using optical images or thermal images received from the marine camera device (710) via Ethernet communication. At this time, the marine camera device (710) may be installed at the bow of the vessel (700) as shown in Case 1 of FIG. 7, or on the upper part of the bridge (730) of the vessel (700) as shown in Case 2 of FIG. 7. Additionally, depending on the embodiment, a marine camera device (710) may be additionally installed on the side or stern of the vessel (700).

[0104] Additionally, the processor of the server (720) can correct the panoramic image based on IMU sensor data received from the marine camera device (710) via Ethernet communication. Specifically, the processor can correct the panoramic image by applying a coordinate transformation between the individual camera coordinate systems of each of the optical cameras and infrared cameras and the origin coordinate system of the vessel (700) to the panoramic image based on the IMU sensor data.

[0105] When a Surround View Monitoring (SVM) system including a marine camera device (710) is installed on a vessel (700), the processor of the server (720) can generate an SVM image using optical images and thermal images received from multiple marine camera devices (710). Additionally, the processor of the server (720) can correct the SVM image based on IMU sensor data received from multiple marine camera devices (710).

[0106] FIG. 8 is a diagram illustrating the process of a marine camera device generating a panoramic image according to an embodiment of the present invention.

[0107] The processor of the server of a ship equipped with a marine camera device can generate a panoramic image by projecting optical images or thermal images onto a cylindrical coordinate system plane (800) as shown in FIG. 8, thereby preventing discontinuity from occurring in the alignment area of ​​the panoramic image even if the orientation of the optical cameras and infrared cameras is changed by the rolling of the ship.

[0108] Therefore, the processor of the server on a vessel equipped with a marine camera device can provide a seamless ultra-wide angle view even in situations where the vessel is rolling.

[0109] FIG. 9 is an example of a process in which a server of a ship equipped with a marine camera device according to an embodiment of the present invention corrects an SVM image.

[0110] A server on a ship equipped with a marine camera device can receive images (910) captured by each of the marine camera devices installed at different locations on the ship.

[0111] A server on a ship equipped with a marine camera device can generate an SVM image (920) using images among the received images (910) in which the score threshold indicating reliability is 50 or higher, and can correct the SVM image (920) using IMU sensor data.

[0112] For example, a server on a ship equipped with a marine camera device can output an image as shown in Fig. 11 by correcting an SVM image as shown in Fig. 10 based on IMU sensor data.

[0113] FIG. 12 is a flowchart illustrating an image stabilization method for a server of a ship equipped with a marine camera device according to an embodiment of the present invention.

[0114] In step (1210), the processor can receive camera images from the cameras of the marine camera device. At this time, the camera images may be one of optical images generated by multiple optical cameras capturing different directions, and thermal images generated by multiple infrared cameras capturing different directions.

[0115] In step (1220), the processor can generate a panoramic image by projecting the camera images received in step (1210) onto a cylindrical coordinate system plane.

[0116] In step (1230), the processor can identify whether the surrounding environment of the vessel equipped with the marine camera device is rough. If the surrounding environment of the vessel equipped with the marine camera device is not rough, the processor can perform step (1250). If the surrounding environment of the vessel equipped with the marine camera device is rough, the processor can perform step (1240).

[0117] In step (1240), the processor can correct the panoramic image generated in step (1220) based on the IMU sensor data.

[0118] In step (1240), the processor can generate an SVM image using the camera images received in step (1210). Additionally, the processor can correct the SVM image based on IMU sensor data.

[0119] FIG. 13 is a drawing illustrating a marine camera device according to a second embodiment of the present invention.

[0120] A marine camera device according to a second embodiment of the present invention may be composed of a main body (110), a stand (120) of the main body, a PTZ camera stand (1310), and a PTZ camera (1320).

[0121] The main body (110) and the stand (120) of the main body are identical to the configuration shown in FIG. 1, so a detailed description is omitted.

[0122] The PTZ camera stand (1310) is configured such that the stand (120) of the main body is attached to the upper part and the PTZ (Pan-Tilt-Zoom) camera (1320) is attached to the lower part, and is described in detail with reference to FIG. 14.

[0123] FIG. 14 is a drawing illustrating the structure of a PTZ camera stand for a marine camera device according to a second embodiment of the present invention.

[0124] The PTZ camera stand (1310) may include a horizontal plate (1410), a column part (1420), and a camera joint (1430) as shown in FIG. 14.

[0125] The horizontal plate (1410) can be formed in a long shape from front to back. In FIG. 14, the horizontal plate (1410) is manufactured with a rectangular shape and both sides formed into an elliptical shape, but depending on the embodiment, the horizontal plate (1410) may be manufactured in a rectangular shape or an elliptical shape.

[0126] In FIG. 14, the stand (120) of the main body is attached to the front upper surface of the horizontal plate (1410), but according to the embodiment, the stand (120) of the main body may be attached to the middle of the upper surface or the rear of the upper surface of the horizontal plate (1410).

[0127] And, as shown in FIG. 15, a structure for slidingly connecting a camera joint (1430) can be formed on the front lower part of the horizontal plate (1410).

[0128] The column portion (1420) can be connected to the lower part of the ship and connected to the rear lower part of the horizontal plate (1410) at its upper part. The column portion (1420) can be manufactured at a height that makes it easy for the user (1540) to install the PTZ camera (1320).

[0129] The upper part of the camera joint (1430) is connected to the front lower part of the horizontal plate (1410), and a PTZ camera (1320) can be connected to the lower part. On the upper surface of the camera joint (1430), a mark (1510) indicating the direction of connection to the horizontal plate, as shown in FIG. 15, may be engraved or attached. Additionally, a slide hook (1530) for fixing the position of the camera joint (1430) is formed on the front lower part of the horizontal plate (1410), and a locking structure (1520) that engages with the slide hook (1530) may be formed on the upper surface of the camera joint (1430) in the direction of insertion into the horizontal plate (1410).

[0130] The PTZ camera (1320) can rotate in the direction where the detected target is located and photograph the detected target when the target is detected based on the optical images captured by the optical cameras of the main body (110) and the thermal images captured by the infrared cameras.

[0131] A rubber base (1600) can be attached to the side of the PTZ camera (1320) to prevent vibration caused by the rotation of the PTZ camera (1320) and to contact the column portion (1420) as shown in FIG. 16.

[0132] FIG. 17 is an example of the specifications of a stand for a marine camera device according to a second embodiment of the present invention.

[0133] The height (1710) of the drive unit driving the lower camera in the PTZ camera (1320) is mm, and the diameter (1720) of the PTZ camera (1320) may be 200 mm.

[0134] According to the second embodiment, the diameter (1730) of the lower part of the column portion (1420) of the stand is 240 mm, the front-to-back length (1740) of the horizontal plate (1410) is 405 mm, and the height (1750) of the column portion (1420) may be 350 mm.

[0135] FIG. 18 is a drawing illustrating a marine camera device according to a third embodiment of the present invention.

[0136] A marine camera device according to the third embodiment of the present invention may be composed of a main body (610), a main body stand (620), a PTZ camera stand (1310), and a PTZ camera (1320).

[0137] The PTZ camera stand (1310) and PTZ camera (1320) have the same configuration as the PTZ camera stand (1310) and PTZ camera (1320) shown in FIG. 13, so a detailed description is omitted.

[0138] The detailed structure of the main body (1810) is described in detail with reference to FIGS. 19 to 21. In addition, the detailed structure of the main body stand (1820) is described in detail with reference to FIG. 24.

[0139] FIG. 19 is a drawing showing the detailed configuration of the main body of a marine camera device according to the third embodiment of the present invention.

[0140] The main body (1810) may be composed of a main body case (1910), a rear side (1920) of the main body case, and a sun visor (1930) attached to the top of the main body case.

[0141] The main body case (1910) is formed as a single-layer structure as shown in FIG. 19, and a plurality of camera holes may be formed on the front, right side, and left side, respectively. At this time, the right side and left side of the main body case (1910) may be formed such that the angle from the right side to the left side is 225 degrees or more.

[0142] FIG. 20 is a drawing illustrating a sun visor of a marine camera device according to a second embodiment of the present invention.

[0143] The sun visor (1930) can be connected to the upper part of the main body case (1910) through a plurality of pillars, as shown in 2010 of FIG. 20. Additionally, the upper part of the main body case (1910) and the sun visor (1930) can be manufactured in a shape protruding forward from the center, as shown in 2020 of FIG. 20. At this time, wind blowing from the front of the marine camera device can flow along the shape of the upper part of the main body case (1910) and the sun visor (1930), as shown by the arrow in 2020 of FIG. 20.

[0144] In addition, in FIG. 20, a wing (2000) is formed at the rear of the sun visor (1930), but depending on the embodiment, the wing (2000) portion may be removed.

[0145] FIG. 21 is a drawing illustrating the detailed configuration of the shooting unit of a marine camera device according to an embodiment of the present invention.

[0146] The integrated bracket (2180) can be inserted into the main body case (1910) with optical cameras (2110, 2130, 2150) and infrared cameras (2120, 2140, 2160) combined on the upper surface.

[0147] Optical cameras (2110, 2130, 2150) can capture optical images in different directions. In addition, infrared cameras (2120, 2140, 2160) can capture thermal images in different directions.

[0148] The integrated bracket (2180) may be configured such that at least one of the optical cameras (2110, 2130, 2150) and at least one of the infrared cameras (2120, 2140, 2160) are positioned on the front, right side, and left side of the main body case (1910), respectively, so that the optical cameras (2110, 2130, 2150) and the infrared cameras (2120, 2140, 2160) are combined.

[0149] Specifically, by combining an optical camera (2110) and an infrared camera (2120) at the position of an integrated bracket (2180) corresponding to two camera holes on the front of the main body case (1910), the optical camera (2110) and the infrared camera (2120) can each capture an optical image and a thermal image of the front of the marine camera device. Additionally, by combining an optical camera (2130) and an infrared camera (2140) at the position of an integrated bracket (2180) corresponding to two camera holes on the right side of the main body case (1910), the optical camera (2130) and the infrared camera (2140) can each capture an optical image and a thermal image of the right side of the marine camera device. And, by combining an optical camera (2150) and an infrared camera (2160) at the position of an integrated bracket (2180) corresponding to two camera holes on the left side of the main body case (1910), the optical camera (2150) and the infrared camera (2160) can each capture an optical image and a thermal image of the left side of the marine camera device.

[0150] In other words, by horizontally arranging an optical camera and an infrared camera in each direction, the marine camera device can capture optical images and thermal images from the same direction and at the same height.

[0151] At this time, the spacing between the optical cameras (2110, 2130, 2150) and the infrared cameras (2120, 2140, 2160) may all be the same, or they may differ depending on the type of camera. Specifically, the arrangement of the optical cameras (2110, 2130, 2150) and the infrared cameras (2120, 2140, 2160) may be determined by considering the characteristic that the field of view of the optical camera is larger than the field of view of the infrared camera. For example, since the angle between the optical camera (2110) and the optical camera (2150) is affected by the field of view of the optical camera, and the angle between the infrared camera (2120) and the infrared camera (2140) is affected by the field of view of the infrared camera, the optical camera (2110) and the optical camera (2150) can be positioned so that the angle between the optical camera (2110) and the optical camera (2150) is smaller than the angle between the infrared camera (2120) and the infrared camera (2140). Additionally, the infrared camera (2120) and the infrared camera (2140) can be positioned so that the angle between the infrared camera (2120) and the infrared camera (2140) is larger than the angle between the optical camera (2110) and the optical camera (2150).

[0152] In addition, an IMU (Inertial Measurement Unit) (2170) for measuring the movement of a ship equipped with a marine camera device can be combined with the integrated bracket (2180).

[0153] The IMU (2170) can measure the movement of a ship equipped with a marine camera device and output the measured result as IMU sensor data.

[0154] At this time, the integrated bracket (2180) can be manufactured so that cameras of the same type are placed adjacently. Specifically, as shown in FIG. 21, the optical camera (2110) and the optical camera (2150) are placed adjacently, and the infrared camera (2120) and the infrared camera (2140) are placed adjacently, thereby securing a placement space for the IMU (2170) and IR conversion boards (2125, 2145, 2165).

[0155] The IR conversion board (2125) is connected to the infrared camera (2120) and can generate a thermal image of the infrared camera (2120) by converting the infrared signal output from the infrared camera (2120) into a digital signal. Additionally, the IR conversion board (2145) is connected to the infrared camera (2140) and can generate a thermal image of the infrared camera (2140) by converting the infrared signal output from the infrared camera (2140) into a digital signal. Furthermore, the IR conversion board (2165) is connected to the infrared camera (2160) and can generate a thermal image of the infrared camera (2160) by converting the infrared signal output from the infrared camera (2160) into a digital signal.

[0156] IR conversion boards (2125, 2145, 2165) are connected to an Ethernet communication module via a USB cable and can transmit thermal images to the Ethernet communication module via the USB cable. According to an embodiment, an IR conversion board may be embedded in each of the infrared cameras (2120, 2140, 2160), and the infrared cameras (2120, 2140, 2160) may transmit thermal images to the Ethernet communication module via a USB cable.

[0157] Additionally, an Ethernet communication module that outputs information received via a USB (Universal Serial Bus) cable via Ethernet communication may be combined with the integrated bracket (2180). At this time, the Ethernet communication module can transmit thermal images transmitted via USB cables by infrared cameras (2120, 2140, 2160) and optical images transmitted via USB cables by optical cameras (2110, 2130, 2150) to a server on a vessel equipped with a marine camera device using Ethernet communication. The server on the vessel equipped with the marine camera device may be an object detection device that detects objects located on the water surface using optical images captured by optical cameras (2110, 2130, 2150) and thermal images captured by infrared cameras (2120, 2140, 2160), or a server equipped with an object detection program.

[0158] The Ethernet communication module can issue a synchronized timestamp and, based on the timestamp, synchronize and output optical images captured by optical cameras (2110, 2130, 2150), thermal images captured by infrared cameras (2120, 2140, 2160), and IMU sensor data output by the IMU (2170).

[0159] The integrated bracket (2180) may include a processor that outputs optical images captured by optical cameras (2110, 2130, 2150) and thermal images captured by infrared cameras (2120, 2140, 2160) with horizon correction or stabilization.

[0160] A processor in the server of a vessel equipped with a marine camera device can generate a panoramic image by projecting optical images captured by optical cameras (2110, 2130, 2150) and thermal images captured by infrared cameras (2120, 2140, 2160) onto a cylindrical coordinate system plane. Additionally, the processor can identify the surrounding environment of the vessel equipped with the marine camera device. If the surrounding environment of the vessel equipped with the marine camera device is not rough seas, the processor can correct the panoramic image based on IMU sensor data and then output it. Furthermore, if the surrounding environment of the vessel equipped with the marine camera device is rough seas, the processor can output the panoramic image without correction. Rough seas is a weather classification that refers to a dangerous sea condition characterized by high wave heights.

[0161] FIG. 22 is a drawing illustrating a marine camera device according to the fourth embodiment of the present invention.

[0162] The marine camera device according to the fourth embodiment of the present invention is an embodiment in which the PTZ camera stand (1310) and the PTZ camera (1320) are removed from the marine camera device according to the second embodiment of the present invention, and the main body (1810) and the main body stand (1820) are installed on a ship using a ship stand (2200).

[0163] FIG. 23 is a drawing showing the rear of a marine camera device according to the fourth embodiment of the present invention.

[0164] As shown in FIG. 23, an engraved pattern (2310) for heat dissipation may be formed on the rear surface (1920) of the main body (1810). Additionally, sockets (2320) may be formed on the lower surface of the main body (1810) to which cables for receiving optical images captured by optical cameras (2110, 2130, 2150) and thermal images captured by infrared cameras (2120, 2140, 2160) will be connected.

[0165] And, a guide (2330) for organizing cables connected to the socket (2320) can be formed on the ship stand (1100).

[0166] FIG. 24 is a drawing illustrating the structure of a stand for a marine camera device according to the fourth embodiment of the present invention.

[0167] The main body stand (1820) may include a tilting part (2410) and a horizontal rotation part (2420) as shown in 2401 of FIG. 24.

[0168] The tilting part (2410) may include a connecting plate formed downwardly at a position corresponding to the vertical plate of the horizontal rotating part (2420) on the upper surface, with the upper surface being connected to the main body (1810).

[0169] The tilting part (2410) includes a plurality of tilting holes (2411) formed according to the tilting angle in the coupling plate, and as shown in 2402 of FIG. 24, a bolt passing through the tilting holes (2411) can be inserted and coupled into a hole (2422) formed in the vertical plate of the horizontal rotation part (2420). At this time, the tilting range of the main body can be determined according to the length and shape of the tilting holes (2411).

[0170] A horizontal rotating part (2420) may have a ship stand (2200) attached to its lower surface and a vertical plate formed on its side that is attached to the connecting plate of the tilting part (2410). According to an embodiment, a PTZ camera stand (1320) may be attached to the lower surface of the horizontal rotating part (2420).

[0171] The horizontal rotation part (2420) may include a plurality of horizontal rotation holes (2421) formed lengthwise in the horizontal rotation direction on the lower surface. Then, a bolt passing through the horizontal rotation holes (2421) may be inserted and coupled into a hole (2431) formed on the upper surface of the ship stand (2200) or PTZ camera stand (1320). At this time, the horizontal rotation range of the main body may be determined according to the length of the horizontal rotation holes (2421).

[0172] The lower part of the ship stand (2200) is connected to the ship, and a horizontal rotating part (2420) that rotates horizontally can be connected to the upper surface.

[0173] FIG. 25 is an example of the specifications of each of the components of a marine camera device according to the fourth embodiment of the present invention.

[0174] As shown in FIG. 25, the main body (1810) of the marine camera device may have a height (2510) up to the sun visor (1930) of 161 mm and a width (2530) of 481 mm. Additionally, the height (2520) of the main body stand (1820) combined with the horizontal rotation part (2420) and the tilting part (2410) may be 110 mm, and the front-to-back width (2540) of the horizontal rotation part (2420) may be 212 mm.

[0175] The height (2550) of the ship stand (1100) is 230 mm, and the diameter (2560) of the lower part of the ship stand (2200) may be 240 mm.

[0176] FIG. 26 is a drawing illustrating a marine camera device according to the fifth embodiment of the present invention.

[0177] A marine camera device according to the fifth embodiment of the present invention may be composed of a main body (110), a stand (2620), and a PTZ camera (2630).

[0178] The marine camera device according to the fifth embodiment of the present invention is an embodiment in which a PTZ camera (2630) is positioned higher than the main body (110), as shown in FIG. 26. At this time, the main body (110) may be a main body of the shape shown in FIG. 1 or a main body of the shape shown in FIG. 18.

[0179] The present invention can provide a marine camera device to replace human lookout by widely distributing optical cameras to satisfy the 225-degree lookout requirement of the SOLAS convention and designing an external camera module suitable for harsh marine environments according to the distributed optical cameras.

[0180] The marine camera device of the present invention can reduce errors occurring during the alignment process between optical and thermal images by horizontally arranging an optical camera and an infrared camera in each direction, thereby capturing optical and thermal images from the same direction and at the same height.

[0181] In addition, the present invention includes an Ethernet communication module that transmits images transmitted by cameras via a USB cable to a server on a ship equipped with a marine camera device using Ethernet communication, and by allowing the ship's server to process the images, it provides a camera device with high operational reliability compared to conventional camera devices, which are susceptible to errors caused by thermal temperature conditions in a marine environment and unstable voltage conditions during the process of processing images with an embedded processor.

[0182] In addition, the present invention allows for maintenance of the optical camera and the infrared camera by inserting an integrated bracket combined with the optical camera and the infrared camera into a main body case formed as a single layer structure, thereby enabling maintenance of the optical camera and the infrared camera simply by removing the integrated bracket. This makes maintenance easier compared to conventional camera devices in which cameras are placed in separate multi-layer structures.

[0183] In addition, the present invention can stabilize a panoramic image by generating a panoramic image by projecting optical images or thermal images onto a cylindrical coordinate system plane, so that a discontinuous state does not occur in the matching area of ​​the panoramic image even if the orientation of the optical cameras and infrared cameras is changed by the rolling of the ship.

[0184]

[0185] Although this specification contains details of a number of specific embodiments, they should not be understood as limiting the scope of any invention or claimables, but rather as descriptions of features that may be characteristic of a specific embodiment of a specific invention. Specific features described in this specification in the context of individual embodiments may be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented in multiple embodiments individually or in any appropriate sub-combination. Furthermore, while features may operate in a specific combination and be described as initially claimed, one or more features from the claimed combination may be excluded from the combination in some cases, and the claimed combination may be changed to a sub-combination or a variation of the sub-combination.

[0186] Likewise, although operations are depicted in the drawings in a specific order, this should not be understood as requiring that such operations be performed in that specific or sequential order depicted to obtain a desirable result, or that all depicted operations must be performed. In certain cases, multitasking and parallel processing may be advantageous. Furthermore, the separation of the various device components of the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and devices can generally be integrated together into a single software product or packaged into multiple software products.

[0187] Meanwhile, the embodiments of the present invention disclosed in this specification and drawings are merely specific examples provided to aid understanding and are not intended to limit the scope of the present invention. It is obvious to those skilled in the art that other variations based on the technical concept of the present invention are possible in addition to the embodiments disclosed herein.

Claims

1. Optical cameras that capture optical images in different directions; Infrared cameras capturing thermal images in different directions; A main body case having a plurality of camera holes formed on the front, right side, and left side, respectively; and An integrated bracket inserted into the main body case with the optical cameras and infrared cameras combined on the upper surface Includes, The above integrated bracket is, The optical cameras and the infrared cameras are combined such that at least one of the optical cameras and at least one of the infrared cameras are disposed on the front, right side, and left side, respectively, of the main body case. Marine camera device.

2. In Paragraph 1, The above integrated bracket is, An Ethernet communication module that outputs information received via a USB (Universal Serial Bus) cable via Ethernet communication is combined, and The above Ethernet communication module is, Transmitting the thermal images transmitted by the infrared cameras via USB cable and the optical images transmitted by the optical cameras via USB cable to a server on a vessel equipped with a marine camera device using Ethernet communication. Marine camera device.

3. In Paragraph 2, The above server is, A panoramic image is generated by projecting the above optical images and the above thermal images onto a cylindrical coordinate system plane. Marine camera device.

4. In Paragraph 3, The above integrated bracket is, An IMU (Inertial Measurement Unit) that measures the movement of a vessel equipped with a marine camera device and outputs the measured results as IMU sensor data. including, Marine camera device.

5. In Paragraph 4, The above server is, Correcting the panoramic image based on the above IMU sensor data, Marine camera device.

6. In Paragraph 1, A sun visor coupled to the upper part of the main body case above Includes more, The sun visor mentioned above is, Manufactured with an aerodynamic shape that takes wind resistance into account, Marine camera device.

7. In Paragraph 1, The above main body case is, An engraved pattern for heat dissipation is formed on the upper surface, Marine camera device.

8. In Paragraph 1, The above main body case is, A camera waterproof structure comprising a waterproof sealing of a hole, a transparent window, a waterproof sealing of a transparent window, and a fixing case sequentially combined on the front of each of the above camera holes, Marine camera device.

9. In Paragraph 1, A stand for securing the above main body case to the ship Includes more, The above stand is, It includes a plurality of horizontal rotation holes formed lengthwise in the horizontal rotation direction on the upper surface, and A bolt passing through the above horizontal rotation holes is inserted and coupled into a hole formed in the lower part of the main body, and The above stand is, The range of horizontal rotation is determined according to the length of the above horizontal rotation holes, Marine camera device.

10. A step of receiving camera images generated by the cameras of a marine camera device from a marine camera device; and A step of generating a panoramic image by projecting the above camera images onto a cylindrical coordinate system plane. Includes, The above-mentioned marine camera device is, At least one optical camera and at least one infrared camera are disposed on the front, right side, and left side of the main body case, respectively. Image stabilization method for a marine camera device.

11. In Paragraph 10, The above camera images are, A method comprising at least one of optical images generated by the optical cameras capturing different directions and thermal images generated by the infrared cameras capturing different directions. Image stabilization method for a marine camera device.

12. In Paragraph 10, A step of identifying whether the surrounding environment of a vessel equipped with a marine camera device is rough seas; and A step of correcting the panoramic image based on IMU sensor data when the surrounding environment of a vessel equipped with a marine camera device is not rough seas. Includes more, The above IMU sensor data is, The Inertial Measurement Unit (IMU) of the above-mentioned marine camera device measures the movement of the vessel on which the above-mentioned marine camera device is installed, and generates Image stabilization method for a marine camera device.

13. In Paragraph 12, The step of correcting based on the above IMU sensor data is, Correcting the panoramic image by applying a coordinate transformation between the individual camera coordinate systems of each of the optical cameras and infrared cameras and the origin coordinate system of the vessel on which the marine camera device is installed, based on the above IMU sensor data. Image stabilization method for a marine camera device.

14. In Paragraph 12, A step of generating an SVM (Surround View Monitoring) image using the above camera images; and Step of correcting the SVM image based on the IMU sensor data including, Image stabilization method for a marine camera device.

Images