Automatic parking system and method based on stereoscopic vision localization and mapping

Abstract

The invention discloses an automatic parking system and method based on stereoscopic vision localization and mapping. The automatic parking system comprises an image acquisition module, an SLAM (Simultaneous Localization and Mapping) module and a route planning module, wherein the image acquisition module corrects an image acquired by a binocular camera calibrated in advance and obtains a disparity image, so that distance information between a vehicle and surrounding objects is obtained; scene-flow motion detection is realized through the matching of the image of a front frame and the image of a rear frame, so that dynamic points in the image are obtained; the SLAM module integrates acquired color images and obtained three-dimensional information, so that the position of the vehicle is located, and a map is established; the route planning module plans a route to find a parking position according to the established map; after the position of the vehicle and a target position are obtained, whether the space of the parking position is enough or not is judged, if parking conditions are met, an optimal parking track is planned to control the vehicle, so that automatic parking is realized. The automatic parking system is simple in operation process, easy to implement, low in cost and wide in application range.

Description

technical field [0001] The invention relates to an automatic parking system and method based on stereo vision positioning and mapping. Background technique [0002] With the improvement of my country's economic level and people's living standards, the number of cars owned is also gradually increasing, and the parking problem is increasingly concerned by people. The increasing number of vehicles also makes parking more difficult. For inexperienced drivers, it is relatively difficult to park and store at one time. Improper operation may even easily cause damage to the vehicle body and cause economic losses. [0003] Although many mid-to-high-end cars are equipped with automatic parking systems, most of the automatic parking systems are based on radar. Radar is mainly used to detect the distance between the vehicle and the surrounding obstacles. Its cost is high, and the data obtained is limited. There may also be blind spots in actual collection. Some vehicles are also equip...

AI Technical Summary

Problems solved by technology

The number of parking spaces is limited and the number of vehicles is increasing day by day, resulting in a situation where parking spaces are hard to find

After the driver drives into the parking lot, he still needs to spend time looking for a parking space in the

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