Systems and methods for confirming dimensions of a marine vessel using a vision system on the marine vessel

1 . A system for confirming dimensions of a marine vessel using a vision system on the marine vessel, the system comprising:

a plurality of cameras, including at least a first camera and a second camera,

wherein each of the plurality of cameras is configured to be mounted to the marine vessel with an associated field of view of an environment of the marine vessel;

one or more hardware processors configured to:

determine a measured value of a dimension of the marine vessel based on a distance between a first point and a second point located using data from the plurality of cameras;

determine whether a difference between the measured value of the dimension of the marine vessel and a provided value of the dimension exceeds a threshold; and

in response to determining that the difference between the measured value of the dimension of the marine vessel and the provided value of the dimension exceeds the threshold, generate an alert.

2 . The system of claim 1 , wherein each of the plurality of cameras is associated with a three-dimensional camera coordinate system, and

wherein the one or more hardware processors are further configured to:

receive three-dimensional location information associated with each of a first plurality of points on the marine vessel in a three-dimensional global coordinate system,

wherein the three-dimensional location information associated with each of the first plurality of points is based on calibration information indicative of a transform between a first camera coordinate system associated with the first camera and the global coordinate system;

receive three-dimensional location information associated with each of a second plurality of points on the marine vessel in the three-dimensional global coordinate system,

wherein the three-dimensional location information associated with each of the second plurality of points is based on calibration information indicative of a transform between a second camera coordinate system associated with the second camera and the global coordinate system;

identify, based on the first plurality of points, a location of a first point corresponding to a first portion of the marine vessel; and

identify, based on the second plurality of points, a location of a second point corresponding to a second portion of the marine vessel.

3 . The system of claim 2 , wherein the dimension is a length of the marine vessel, the first portion of the marine vessel is a bow of the marine vessel, the first point is a tip of the bow in the first plurality of points, the second portion of the marine vessel is a stern of the marine vessel, and the second point is an aft-most point of the stern in the second plurality of points.

4 . The system of claim 2 , wherein the one or more hardware processors are further configured to:

receive three-dimensional location information associated with each of a fifth plurality of points on the marine vessel in a three-dimensional global coordinate system,

wherein the three-dimensional location information associated with each of the fifth plurality of points is based on calibration information indicative of a transform between the first camera coordinate system associated with the first camera and the global coordinate system;

receive three-dimensional location information associated with each of a sixth plurality of points on the marine vessel in the three-dimensional global coordinate system,

wherein the three-dimensional location information associated with each of the sixth plurality of points is based on calibration information indicative of a transform between the second camera coordinate system associated with the second camera and the global coordinate system;

identify, based on the fifth plurality of points, a location of a fifth point corresponding to the first portion of the marine vessel;

identify, based on the sixth plurality of points, a location of a sixth point corresponding to the second portion of the marine vessel;

determine a second measured value of the dimension of the marine vessel based on a distance between the fifth point and the sixth point;

determine whether a difference between the second measured value of the dimension of the marine vessel and the provided value of the dimension exceeds the threshold; and

in response to determining that the difference between the measured value of the dimension of the marine vessel and the provided value of the dimension exceeds the threshold, generate a calibration alert.

5 . The system of claim 2 , wherein the one or more hardware processors are further configured to:

receive classification information associated with the first plurality of points,

wherein the classification information includes an indication of a predicted class of a plurality of classes of each point in the first plurality of points, and

wherein the plurality of classes includes:

at least one ego vessel class indicating that the point is predicted to correspond to a point on the marine vessel;

determine, based on the classification information, that the first point is predicted to be a point on the marine vessel; and

determine that the first point is located farthest forward of points predicted to be a point on the marine vessel.

6 . The system of claim 5 , wherein the first plurality of points are points predicted to be a point on the marine vessel, and

wherein the one or more hardware processors are further configured to:

filter any points in the first plurality of points that are located more than a predetermined distance from a point predicted to be a point on the marine vessel, thereby generating a first subset of points; and

determine that the first point is located farthest forward of points predicted to be a point on the marine vessel among the first subset of points.

7 . The system of claim 2 , wherein the three-dimensional location information associated with each of a first plurality of points comprises point cloud data.

8 . The system of claim 1 , wherein the one or more hardware processors are further configured to:

receive, from memory, dimensions associated with the marine vessel, including the provided value of the dimensions.

9 . The system of claim 1 , wherein the one or more hardware processors are further configured to:

receive three-dimensional location information associated with each of a third plurality of points on the marine vessel in a three-dimensional global coordinate system,

wherein the three-dimensional location information associated with each of the third plurality of points is based on calibration information indicative of a transform between a third camera coordinate system associated with a third camera and the global coordinate system;

receive three-dimensional location information associated with each of a fourth plurality of points on the marine vessel in the three-dimensional global coordinate system,

wherein the three-dimensional location information associated with each of the second plurality of points is based on calibration information indicative of a transform between a second camera coordinate system associated with the second camera and the global coordinate system;

identify, based on the third plurality of points, a location of a third point corresponding to a third portion of the marine vessel;

identify, based on the fourth plurality of points, a location of a fourth point corresponding to a fourth portion of the marine vessel;

determine a measured value of a second dimension of the marine vessel based on a distance between the third point and the fourth point;

determine that a difference between the measured value of the second dimension of the marine vessel and a provided value of the second dimension exceeds a second threshold; and

in response to determining that the difference between the measured value of the second dimension of the marine vessel and the provided value of the second dimension exceeds the second threshold, generate the alert.

10 . The system of claim 9 , wherein the dimension is a width of the marine vessel, the third portion of the marine vessel is a port side of the marine vessel, the third point is a point along the port side of the marine vessel, the fourth portion of the marine vessel is a starboard side of the marine vessel, and the fourth point is a point along the starboard side of the marine vessel.

11 . The system of claim 1 , wherein the threshold is based on a first depth accuracy metric associated with the first camera and a second depth accuracy metric associated with the second camera.

12 . The system of claim 1 , wherein the threshold is based on a first accuracy metric associated with the first camera and a second accuracy metric associated with the second camera, and

wherein the first accuracy metric is based on a distance from the first camera to the first point, the second accuracy metric is based on a distance from the second camera to the second point, and the threshold is based on a sum of the first accuracy metric and the second accuracy metric.

13 . The system of claim 1 , wherein the alert indicates that the measured value of the dimension is inconsistent with the provided value of the dimension.

14 . The system of claim 1 , wherein the one or more hardware processors are further configured to:

cause a prompt to be presented to a user based on the alert.

15 . A method for confirming dimensions of a marine vessel using a vision system on the marine vessel, the method comprising:

determining a measured value of a dimension of the marine vessel based on a distance between a first point and a second point located using data from a plurality of cameras, including a first camera and a second camera,

wherein each of the plurality of cameras is configured to be mounted to the marine vessel with an associated field of view of an environment of the marine vessel;

determining whether a difference between the measured value of the dimension of the marine vessel and a provided value of the dimension exceeds a threshold; and

in response to determining that the difference between the measured value of the dimension of the marine vessel and the provided value of the dimension exceeds the threshold, generating an alert.

16 . The method of claim 15 , further comprising:

receiving three-dimensional location information associated with each of a first plurality of points on the marine vessel in a three-dimensional global coordinate system,

wherein the three-dimensional location information associated with each of the first plurality of points is based on calibration information indicative of a transform between a first camera coordinate system associated with a first camera and the global coordinate system, and

wherein the first camera is configured to be mounted to the marine vessel with an associated field of view including at least a first portion of the marine vessel;

receiving three-dimensional location information associated with each of a second plurality of points on the marine vessel in the three-dimensional global coordinate system,

wherein the three-dimensional location information associated with each of the second plurality of points is based on calibration information indicative of a transform between a second camera coordinate system associated with a second camera and the global coordinate system, wherein the second camera is configured to be mounted to the marine vessel with an associated field of view including at least a second portion of the marine vessel;

identifying, based on the first plurality of points, a location of a first point corresponding to the first portion of the marine vessel; and

identifying, based on the second plurality of points, a location of a second point corresponding to the second portion of the marine vessel.

17 . The method of claim 15 , further comprising receiving, from memory, dimensions associated with the vessel, including the provided value of the dimensions.

18 . The method of claim 15 , wherein the threshold is based on a first accuracy metric associated with the first camera and a second accuracy metric associated with the second camera.

19 . The method of claim 18 , wherein the first accuracy metric is based on a distance from the first camera to the first point, the second accuracy metric is based on a distance from the second camera to the second point, and the threshold is based on a sum of the first accuracy metric and the second accuracy metric.

20 . The method of claim 16 , further comprising:

receiving three-dimensional location information associated with each of a fifth plurality of points on the marine vessel in a three-dimensional global coordinate system,

wherein the three-dimensional location information associated with each of the fifth plurality of points is based on calibration information indicative of a transform between the first camera coordinate system associated with the first camera and the global coordinate system;

receiving three-dimensional location information associated with each of a sixth plurality of points on the marine vessel in the three-dimensional global coordinate system,

wherein the three-dimensional location information associated with each of the sixth plurality of points is based on calibration information indicative of a transform between the second camera coordinate system associated with the second camera and the global coordinate system;

identifying, based on the fifth plurality of points, a location of a fifth point corresponding to the first portion of the marine vessel;

identifying, based on the sixth plurality of points, a location of a sixth point corresponding to the second portion of the marine vessel;

determining a second measured value of the dimension of the marine vessel based on a distance between the fifth point and the sixth point;

determining whether a difference between the second measured value of the dimension of the marine vessel and the provided value of the dimension exceeds the threshold; and

in response to determining that the difference between the measured value of the dimension of the marine vessel and the provided value of the dimension exceeds the threshold, generating a calibration alert.

21 . A system for monitoring calibration of a vision system on a marine vessel, the system comprising:

a plurality of cameras, including at least a first camera,

wherein each of the plurality of cameras is configured to be mounted to the marine vessel with an associated field of view of an environment of the marine vessel, and

wherein each of the plurality of cameras is associated with a three-dimensional camera coordinate system;

one or more hardware processors configured to:

receive three-dimensional location information associated with each of a first plurality of points on the marine vessel in a three-dimensional global coordinate system,

wherein the three-dimensional location information associated with each of the first plurality of points is based on calibration information indicative of a transform between a first camera coordinate system associated with the first camera and the global coordinate system;

identify, based on the first plurality of points, a location of a first point corresponding to a first portion of the marine vessel;

store the location of the first point in memory;

receive three-dimensional location information associated with each of a second plurality of points on the marine vessel in a three-dimensional global coordinate system,

wherein the three-dimensional location information associated with each of the second plurality of points is based on calibration information indicative of a transform between the first camera coordinate system associated with the first camera and the global coordinate system;

identify, based on the second plurality of points, a location of a second point corresponding to the first portion of the marine vessel;

determine a distance between the location of the first point and the location of the second point

determine whether the distance exceeds a threshold,

wherein the threshold is based on a first accuracy metric associated with the first camera and a distance from the first camera to the first point; and

in response to determining that the distance exceeds the threshold, generate an alert.

22 . The system of claim 21 , wherein the one or more hardware processors are further configured to:

identify the first point in the first plurality of points as a first point of interest;

identify the second point in the second plurality of points as a second point of interest; and

determine that the second point corresponds to a same portion of the marine vessel based on one or more characteristics of the first point of interest and the second point of interest.

23 . The system of claim 21 , wherein the three-dimensional location information associated with each of a first plurality of points comprises point cloud data.

24 . The system of claim 1 , wherein the dimension is a length of the marine vessel, the first point is a tip of a bow of the marine vessel, and the second point is an aft-most point of a stern of the marine vessel.