Abstract
Although an automatic parking system has been installed in many vehicles recently, it is still hard for the system to confirm by itself whether a vacant parking area truly exists or not. In this paper, we introduced a robust vision-based vacancy parking area detecting method for both indoor and outdoor environments. The main contribution of this paper is given as follows. First, an automatic image stitching method is proposed. Secondly, the problem of environment illuminating change and line color difference is considered and solved. Thirdly, the proposed algorithm is insensitive to the shadow and scene diversity, which means the detecting result satisfies most of the environment. Finally, a vehicle model is considered for tracking and reconfirming the detecting results to eliminate most of the false positives.
Highlights
Since autonomous driving has become more and more popular in recent years, an automatic parking system, as one of autonomous driving’s most typical components, has become a hot topic both in research and volume manufacturing
Most of the automatic parking systems nowadays can only be called semi-automatic because a parking area detection method using ultra-sonic signals cannot even distinguish between a vacant parking area and a free space between two garbage bins
The authors of [12] proposed a surrounding view-based parking area detection and tracking algorithm, but the method only works when the ground is clean without too many sundries or too much reflection of light like underground garages
Summary
Since autonomous driving has become more and more popular in recent years, an automatic parking system, as one of autonomous driving’s most typical components, has become a hot topic both in research and volume manufacturing. A vision-based parking area detection method with the fusion of ultra-sonic sensors is proposed to solve the detecting problem. The reason why we choose vision is that a standard parking area always has specific marks around it, which makes up for the uncertainty of the ultrasonic method. Many works have been done using this typical system, such as image enhancing [2], lane marking detection [3], obstacle detection [4], etc
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