US 11,741,193 B2
Distance recognition system for use in marine vessel, control method thereof, and marine vessel
Takeshi Kato, Shizuoka (JP)
Assigned to YAMAHA HATSUDOKI KABUSHIKI KAISHA, Shizuoka (JP)
Filed by YAMAHA HATSUDOKI KABUSHIKI KAISHA, Iwata (JP)
Filed on Nov. 11, 2021, as Appl. No. 17/523,979.
Claims priority of application No. 2020-200425 (JP), filed on Dec. 2, 2020.
Prior Publication US 2022/0171987 A1, Jun. 2, 2022
Int. Cl. G06T 7/80 (2017.01); G06T 7/70 (2017.01); G06V 20/10 (2022.01); G06F 18/22 (2023.01)
CPC G06F 18/22 (2023.01) [G06T 7/70 (2017.01); G06T 7/85 (2017.01); G06V 20/10 (2022.01); G06T 2207/10012 (2013.01); G06T 2207/30252 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A distance recognition system for use in a marine vessel, the distance recognition system comprising:
at least one memory;
a first imaging unit positioned on a hull so that an imaging area of the first imaging unit includes a water surface;
a second imaging unit positioned on the hull at a location higher than a location of the first imaging unit and so that an imaging area of the second imaging unit includes the water surface; and
at least one processor coupled to the at least one memory and configured or programmed to:
acquire a first image captured by either one of the first imaging unit or the second imaging unit, and a second image captured by the other one of the first imaging unit or the second imaging unit;
perform a matching process between the first image and the second image to acquire distance information about any position in the first image;
determine an existence of waves based on the acquired distance information;
recognize a water surface condition based on heights of a plurality of the waves that have been determined to exist;
measure a height of a water surface at a predetermined distance from a hull of the marine vessel based on the acquired distance information; and
output a notification indicating a change of the water surface height when the height of the water surface changes exceeding a threshold value for a predetermined period of time.