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All-round view parking space detection result processing method and device, equipment and storage medium

A parking space detection and parking space technology, applied in the field of automatic driving, can solve the problems of splicing misalignment, low accuracy of parking space detection results, and reduced parking accuracy.

Active Publication Date: 2021-01-22
SHENZHEN MINIEYE INNOVATION TECH CO LTD
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Problems solved by technology

[0004] However, splicing misalignment may occur in the process of splicing fisheye images. The accuracy of the parking space detection result based on the surrounding view with splicing misalignment is low. The parking space represented by the parking space detection result deviates from the actual parking space, resulting in parking accuracy. reduce

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  • All-round view parking space detection result processing method and device, equipment and storage medium
  • All-round view parking space detection result processing method and device, equipment and storage medium

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Embodiment Construction

[0069] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0070] Reference in this application to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The occurrences of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is understood explicitly and implicitly by those skilled in the art that the embodiments described in this application can be comb...

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Abstract

The invention relates to the technical field of automatic driving, and provides an all-round view parking space detection result processing method and device, equipment and a storage medium. After determining that the matching reliability between the detection result of the frame and the estimation result of the previous frame is greater than or equal to the matching reliability threshold, the Kalman filtering model obtains the prediction result of the frame according to the vehicle state information at the shooting moment of the frame and the estimation result of the previous frame; based onthe set measurement noise covariance matrix (available R characterization) and prediction noise covariance matrix (available Q characterization), a current frame estimation result is obtained by usingthe current frame prediction result and the current frame detection result; wherein R in negative correlation with the matching reliability and Q in positive correlation with the matching reliabilitycan be determined based on the matching reliability, so that when the Kalman filtering model obtains the estimation result of the frame, the Kalman filtering model can selectively take the predictionresult of the frame as the principal thing or the detection result of the frame as the principal thing, the deviation with the actual parking space is reduced, and the parking accuracy is improved.

Description

technical field [0001] The present application relates to the technical field of automatic driving, and in particular to a processing method, device, computer equipment and storage medium for a detection result of a surrounding view parking space. Background technique [0002] With the widespread application of autonomous driving technology in vehicles, automatic parking technology has emerged. Automatic parking technology is mainly to park vehicles in various types of parking spaces (such as parallel parking spaces, vertical parking spaces and inclined parking spaces) without human intervention. Automatic parking technology includes parking space detection, and the accuracy of parking space detection directly affects the accuracy of final parking. [0003] Based on the wide shooting range of the fisheye camera, the parking space detection technology will use the fisheye image obtained by the fisheye camera. Furthermore, the fisheye images collected by the fisheye cameras ...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/32G06K9/62G06T7/13G06T7/277
CPCG06T7/13G06T7/277G06T2207/10016G06T2207/20024G06T2207/30264G06T2207/20164G06V20/586G06V10/25G06F18/22
Inventor 刘平刘国清敖争光
Owner SHENZHEN MINIEYE INNOVATION TECH CO LTD
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