Parking space detection method based on TOF camera
A TOF camera and parking space detection technology, which is applied in image analysis, image enhancement, instruments, etc., can solve the problems of inconvenient installation, large influence of light intensity, high price, etc., and achieve the effect of reliable parking space detection and low-cost parking space detection
Pending Publication Date: 2022-06-17
FORYOU GENERAL ELECTRONICS
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Problems solved by technology
[0003] The existing mainstream parking space detection schemes are: ① The parking space detection based on ultrasonic radar, its main defect is that it is greatly affected by the environment and the blind area of detection is also large; ② The main defect of the parking space detection based on laser radar is that it is expensive and installation Inconvenient; ③ Parking space detection based on the surround view camera, the main detection defect is that it is greatly affected by the light intensity
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[0068] The embodiments of the present invention will be specifically described below with reference to the accompanying drawings, which are for reference and illustration purposes only, and do not limit the scope of the patent protection of the present invention.
[0069] like figure 1 As shown, this embodiment provides a parking space detection method based on a TOF camera, including:
[0070] Step 1. Establish a parking space detection coordinate system XOY.
[0071] In this embodiment, TOF cameras are installed on both sides of the front of the vehicle. This embodiment is described by taking the detection of a parking space on the right side of the vehicle's forward direction as an example. It should be understood that the method for detecting the right side of the vehicle's forward direction is the same.
[0072] In this embodiment, the parking space detection coordinate system XOY takes the TOF camera as the coordinate origin O, takes the X axis parallel to the advancin...
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The invention provides a parking space detection method based on a TOF camera. The parking space detection method comprises the following steps: step 1, establishing a parking space detection coordinate system; step 2, initializing preset parameters of a target parking space, wherein the preset parameters of the target parking space comprise a preset length and a preset width of a target vertical parking space and a preset length and a preset width of a target horizontal parking space; 3, acquiring a point cloud picture of the obstacle, and extracting preset feature points of the obstacle; 4, determining the length and width of the target parking space according to the preset feature points of the obstacle; and step 5, according to the length and the width of the target parking space and the preset parameters of the target parking space, parking space determination is carried out. According to the invention, low-cost and reliable parking space detection is realized.
Description
technical field [0001] The invention relates to the technical field of automatic parking, in particular to a parking space detection method based on a TOF camera. Background technique [0002] At present, autonomous driving technology is developing rapidly, and autonomous parking is an important function in autonomous driving. A key point of automatic parking is the accurate detection of parking spaces. Only when the parking spaces are accurately detected can the subsequent parking route planning be performed. [0003] The existing mainstream parking space detection solutions are: ①The parking space detection based on ultrasonic radar, the main defect is that it is greatly affected by the environment and the detection blind area is also large; ②The main defect of the parking space detection based on lidar is that it is expensive and installation. It is inconvenient; 3. The main defect of parking space detection based on the surround view camera is that it is greatly affecte...
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CPCG06T7/73G06T2207/10028
Inventor 黎伟
Owner FORYOU GENERAL ELECTRONICS