Approaches are disclosed for mapping surroundings of a marine vessel. These involve obtaining, at a first location, first distance data from distance sensors including a bow-mounted sensor arranged to monitor a first area involving surroundings adjacent to the bow and a first side of the marine vessel, and a stern-mounted sensor arranged to monitor a second area involving surroundings adjacent to the stern and a second side, opposite the first side, of the marine vessel. The approaches further includes generating a surroundings map comprising at least two unmapped areas indicating blind spots of at least partially incomplete surroundings representations; obtaining, at a second location, second distance data from the set of distance sensors; and causing updates to the unmapped areas based on the second distance data.

An automatic watercraft maneuvering system includes a propulsion device, a steering, a position sensor, a camera, and a controller configured or programmed to execute an automatic watercraft maneuvering control to control the propulsion device and the steering in order to perform automatic watercraft maneuvering from a departure location to a destination location. The automatic watercraft maneuvering control includes a camera watercraft maneuvering control and a position sensor watercraft maneuvering control. The controller is configured or programmed to, when a failure occurs in the position sensor in a predetermined area of water in which the automatic watercraft maneuvering is executable using the camera watercraft maneuvering control, cause the watercraft to head to a predetermined target position in the predetermined area of water in which the failure occurs during the camera watercraft maneuvering control.