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The initial distance between the two ships is about 330m, and the simulation was conducted so that the distance between the two ships decreased as the experiment time passed. The actual distance between the ships was calculated from the latitude and longitude of the two ships according to the time obtained from the simulator, and the estimated distance between the two ships, a recognized object, was derived based on the image. The criteria for determination an abnormal situation was classified into a dangerous state if the distance between two ships was less than 20 meters, and a safe state otherwise. Left table shows the results of the abnormal situation judgment experiment from about 3 seconds before the collision. The total length of the experiment is about 21.5 seconds. Although the average distance error between the real distance and the estimated distance is 3.4m, the determination results achieved a high success rate in the experiment environment. Right Figure show two examples of video outputs for safe and warning cases.
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IEEE/ICACT20230138 Slide.11
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