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Parking space detection model training method, parking space detection method and device

A technology of parking space detection and model training, which is applied in neural learning methods, biological neural network models, character and pattern recognition, etc., and can solve problems such as easy jumping

Pending Publication Date: 2022-05-06
BEIJING CO WHEELS TECH CO LTD
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AI Technical Summary

Problems solved by technology

However, in the existing way of calculating the corner points of parking spaces, each parking space only outputs a set of corner points of parking spaces, which has strong randomness, and the corner positions of different frames are easy to jump

Method used

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  • Parking space detection model training method, parking space detection method and device
  • Parking space detection model training method, parking space detection method and device
  • Parking space detection model training method, parking space detection method and device

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Embodiment approach

[0091] Figure 7 It is an exemplary implementation of a parking space detection model training method proposed by the application, such as Figure 7 As shown, the parking space detection model training method includes the following steps:

[0092] S701. Acquire multiple images collected during parking, and splice the multiple images to generate a spliced ​​sample image.

[0093] S702. Identify corner points of the sample parking space from the sample image, and mark them.

[0094] S703. Down-sampling the sample image to obtain a sampled sample image.

[0095] S704. Based on the coordinates of the corner points, determine the center position of the sample parking space in the sample image.

[0096] Regarding the implementation manner of steps S701-S704, the implementation manners in the embodiments of the present application may be adopted, and details are not repeated here.

[0097] S705. Determine a first redundant offset for parking space identification.

[0098] S706. ...

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Abstract

The invention provides a parking space detection model training method, a parking space detection method and a parking space detection device, and relates to the technical field of automatic driving. The method comprises the steps of obtaining a sample image of a sample parking space, and obtaining a center position of the sample parking space from the sample image; according to the central position, determining a parking space identification redundancy area and a parking space corner point regression redundancy area in the sample image; marking the sample image according to the parking space recognition redundant region to generate a category truth value thermodynamic diagram, and marking the sample image according to the parking space angular point regression redundant region to generate a regression truth value thermodynamic diagram of the parking space angular points; and based on the sample image, the category truth value thermodynamic diagram and the regression truth value thermodynamic diagram, training a parking space detection model to generate a target parking space detection model. In the training process, redundancy during parking space category identification and parking space corner point regression calculation is considered, so that the trained target parking space detection model can consider a redundancy area during parking space identification, and the parking space can be detected more accurately.

Description

technical field [0001] The present application relates to the technical field of automatic driving, and in particular to a parking space detection model training method, a parking space detection method and a device thereof. Background technique [0002] In related technologies, users have an urgent need for assisted parking and automatic parking. In addition to driving on the road, vehicles also need to drive into corresponding parking spaces. This requires accurate identification of parking spaces near the vehicle in order to plan well. Parking route, park safely and accurately. However, in the existing way of calculating corner points of parking spaces, each parking space only outputs a set of corner points of parking spaces, which has strong randomness, and the corner positions of different frames are easy to jump. Contents of the invention [0003] This application aims to solve one of the technical problems in the related art at least to a certain extent. [0004] ...

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Application Information

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IPC IPC(8): G06V20/58G06V10/22G06V10/774G06V10/764G06V10/82G06K9/62G06N3/04G06N3/08
CPCG06N3/08G06N3/045G06F18/243G06F18/214
Inventor 王东伟吉方成
Owner BEIJING CO WHEELS TECH CO LTD