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Parking space detecting and tracking method, electronic equipment and vehicle

A parking space detection and parking space technology, which is applied in the field of electronic equipment, vehicles, and parking space detection and tracking methods, can solve the problems of complex matching steps, target tracking interruption, missed detection targets, etc., so as to improve the detection robustness and prevent the parking space from being missed by mistake Inspection, improve the effect of tracking efficiency

Active Publication Date: 2021-10-22
魔视智能科技(上海)有限公司
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AI Technical Summary

Problems solved by technology

Existing methods basically detect the coordinates of parking spaces on each frame of pictures in isolation, and then use existing multi-target tracking methods such as Hungarian algorithm, Kalman filter, etc. to perform matching and tracking of parking spaces, and perform parking space positioning. This method does not make full use of the smooth characteristics of the timing and spatial information of the parking space, and will miss the occluded target during the movement process, and the matching steps are complicated, requiring manual design of the matching mode, resulting in interruption of target tracking

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  • Parking space detecting and tracking method, electronic equipment and vehicle
  • Parking space detecting and tracking method, electronic equipment and vehicle

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Embodiment Construction

[0016] like figure 1 As shown, the embodiment of this specification provides a parking space detection and tracking method, including:

[0017] S101. Input the multi-frame surround-view bird's-eye view arranged in time sequence sequentially into the detection and tracking model to obtain parking space detection information and tracking information on each frame of the surround-view bird's-eye view.

[0018] The parking space detection information includes the regression coordinates of the candidate parking space detection frame represented by the four corner points, the category prediction value and the center-ness (center-ness), and the tracking information includes the coordinates of the two corner points of the parking space entrance relative to the bird's-eye view of the previous frame deviation.

[0019] If the current input model is the bird's-eye view of the first frame, only the parking space detection information will be output.

[0020] Among them, the look-around ...

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Abstract

The invention provides a parking space detecting and tracking method, electronic equipment and a vehicle. The method is used for detecting and tracking parking spaces on multiple frames of aerial views arranged in a time sequence, fully utilizing continuous information in space, extracting information of front and back frames, predicting coordinate deviation of the parking spaces of the front and back frames and the like, improving the detection rate and accuracy of shielded objects, simplifying the matching and tracking process, improving the parking space tracking efficiency, and will not cause missed parking space detection.

Description

technical field [0001] The invention belongs to the technical field of parking space detection and tracking, and in particular relates to a parking space detection and tracking method, electronic equipment and a vehicle. Background technique [0002] In recent years, the automatic parking technology has gradually matured. For the landing and commercialization of the automatic parking system, stability and cost performance are essential. This first needs to locate an accurate parking space. [0003] During the process of vehicle storage, it is often necessary to track the corresponding parking space and obtain the location information of the parking space at all times. Existing methods basically detect the coordinates of parking spaces on each frame of pictures in isolation, and then use existing multi-target tracking methods such as Hungarian algorithm, Kalman filter, etc. to perform matching and tracking of parking spaces, and perform parking space positioning. This method...

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Application Information

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IPC IPC(8): G06T7/246G06T7/00G06T7/174G06N3/04G06N3/08
CPCG06T7/246G06T7/97G06T7/174G06N3/04G06N3/084G06T2207/10016G06T2207/20164G06T2207/30264G06T2207/20081
Inventor 袁施薇虞正华张如高李发成
Owner 魔视智能科技(上海)有限公司
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