Abstract: The present disclosure relates to a method and an apparatus of generating a surround view monitoring (SVM) image. The method includes: obtaining installation information of an actual camera installed on a ship; setting a virtual camera to orient toward a ground plane perpendicularly within a world coordinate system; calculating a conversion relationship between the virtual camera and the actual camera, based on the installation information of the actual camera; generating the SVM image based on the calculated conversion relationship; and controlling the ship based on the generated SVM image.

Abstract: A navigation assistance system using a plurality of sensors according to an aspect of the present disclosure includes a display configured to provide a monitoring image, a sensor unit including at least one sensor, a memory in which at least one program is stored, and at least one processor configured to execute the at least one program, wherein the at least one processor obtains image frame information of an object using a first sensor, calculates information about the object using a second sensor, calculates a risk of collision between a host ship and the object by fusing the image frame information of the object and the information about the object, and determines an avoidance path based on the calculated collision risk.

Abstract: A ball installed in a ball valve is provided. The ball includes: a ball main body including a penetrating hole penetrating from a front portion to a rear portion thereof and having a predetermined diameter, and a concave recess formed on an upper portion thereof to be coupled to a stem of the ball valve; and insert members coupled to a left side and a right side of the ball main body, wherein the insert members are coupled to the ball main body, such that, when the ball is installed in the ball valve and is placed in a position for closing the ball valve, each of the insert members covers a region of the ball contacting a seat of the ball valve, wherein the insert members are formed of a super hardness material.