Parking space detection method based on side view camera

A detection method and parking space technology, applied in the direction of neural learning methods, indicating various open spaces in the parking lot, image data processing, etc., can solve the problem of inability to accurately obtain effective parking space information, inability to distinguish the size and type of obstacles, and adjacent sensors Signal interference and other issues, to achieve the effect of improving parking accuracy, saving system costs, and improving reliability

Active Publication Date: 2017-12-01
ZHEJIANG LEAPMOTOR TECH CO LTD
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Problems solved by technology

[0005] The purpose of the present invention is to overcome the short measurement distance of ultrasonic radar sensors in the prior art, the signal interference between adjacent sensors is easy to occur, and the size and type of obstacles cannot be distinguished, and effective parking space inform

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  • Parking space detection method based on side view camera
  • Parking space detection method based on side view camera
  • Parking space detection method based on side view camera

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Embodiment Construction

[0040] The present invention will be further described below in conjunction with accompanying drawing and specific embodiment:

[0041] Such as figure 1 Shown is a parking space detection method based on a side-view camera, comprising the following steps:

[0042] Step 100, fisheye camera distortion correction

[0043] Step 110, using the internal parameters of the camera obtained through calibration, remove the radial distortion in the fisheye image through the following distortion model: θ'=θ(1+θ 2 +θ 4 ), where θ is the imaging perspective angle corresponding to the midpoint of the image;

[0044] Step 200, side view parking area segmentation

[0045] Step 210, using a supervised learning method to train a deep neural network, which is used to segment the side view angle, the parking area and the non-parking area in the image area;

[0046]Step 220, collecting side-view video samples, performing distortion correction and pixel-level calibration on the video data, divid...

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Abstract

The invention discloses a parking space detection method based on a side view camera. Through the segmentation of a passable region in a look-around camera scene, in a ground coordinate system, the actual size of a planar region is calculated through inverse perspective transform, multiple frames of image sequence image data are used to confirm the region with the combination of a vehicle movement state, the position information of an actual parking space region is optimized, and finally the effective parking space detection is realized. According to the method, the reliability of parking space detection can be improved, and the parking accuracy can be improved.

Description

technical field [0001] The invention relates to the technical field of vehicle electronics, in particular to a parking space detection method based on a side-view camera that can improve the reliability and accuracy of parking space detection. Background technique [0002] With the improvement of automobile automation, automatic parking system has become the standard configuration of some high-end cars. Real-time and accurate detection of effective parking position is an important prerequisite for the realization of such systems. Most of the existing automatic parking systems are based on ultrasonic radar sensors for parking space detection. Ultrasonic radar sensors have the characteristics of short measurement distance, signal interference between adjacent sensors, and the inability to distinguish the size and type of obstacles. Therefore, it cannot accurately obtain effective parking space information in some scenarios, and the application scenarios have certain limitatio...

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Application Information

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IPC IPC(8): G06T3/00G06T7/11G06T7/62G06T7/80G06N3/08G06N3/04G08G1/14
CPCG06N3/08G06T3/0012G06T7/11G06T7/62G06T7/80G08G1/14G06N3/045
Inventor 缪其恒孙焱标苏巍刘振发王江明许炜
Owner ZHEJIANG LEAPMOTOR TECH CO LTD
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