No need for an Arduino if all you want is video from on-board.
Minimum needs are a video camera and 5.8GHz video transmitter on board the boat. You can buy a one piece camera and transmitter module intended for racing drones, just make sure that it is 25mW power as this is the maximum legal transmitting power. You then need a receiver and monitor to see the video. Many use goggles which often have the receiver built in, some need an external receiver. The simplest goggles are quite inexpensive and use a single screen while the more expensive use two screens one per eye. One disadvantage of goggles is if you wear glasses for vision as smaller ones will not fit over glasses. With some you can get corrective add on lenses to help.
Some goggles have head tracking sensors built in and can connect to a transmitter to drive servos on-board to give pan and tilt movement at the camera. Most FPV camera have quite a wide angle lens so will give some peripheral vision if you can accept the distortion at the edges.
An on board extra that can be used is an on screen display, this can be linked to a gps to give speed and positioning data that can be seen on the monitor or goggles. Data generally includes battery voltage so you can keep a check on your power. Use of gps will also give a compass direction and with some direction to your home point ( where it powered up.)
There is a large range of equipment available although you will need to for it on aircraft and drone suppliers. Hobbyking does have a range of fpv equipment which will give you an idea of what is available.
Jim