BR112018008270A8 - Dispositivo e método de detecção de linha de vaga de estacionamento - Google Patents
Dispositivo e método de detecção de linha de vaga de estacionamentoInfo
- Publication number
- BR112018008270A8 BR112018008270A8 BR112018008270A BR112018008270A BR112018008270A8 BR 112018008270 A8 BR112018008270 A8 BR 112018008270A8 BR 112018008270 A BR112018008270 A BR 112018008270A BR 112018008270 A BR112018008270 A BR 112018008270A BR 112018008270 A8 BR112018008270 A8 BR 112018008270A8
- Authority
- BR
- Brazil
- Prior art keywords
- contour line
- parking space
- range
- limits
- detection device
- Prior art date
Links
- 238000000034 method Methods 0.000 title abstract 4
- 238000001514 detection method Methods 0.000 title abstract 2
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/12—Edge-based segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30256—Lane; Road marking
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30261—Obstacle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30264—Parking
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Geometry (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
DISPOSITIVO E MÉTODO DE DETECÇÃO DE LINHA DE VAGA DE ESTACIONAMENTO. Um método de detecção de uma linha de contorno de uma vaga de estacionamento (PLn, PRn) a partir de uma imagem capturada adquirida por uma câmera (1) é provido. O método inclui detectar a linha de contorno quando o valor de um parâmetro usado para detecção da linha de contorno é abrangido por uma primeira faixa de limites, estimar a posição de uma linha de contorno não detectada com base na posição da linha de contorno detectada e definir uma faixa de limites usada para detectar a linha de contorno na posição estimada da linha de contorno para uma segunda faixa de limites mais ampla do que a primeira faixa de limites.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2015/079893 WO2017068699A1 (ja) | 2015-10-22 | 2015-10-22 | 駐車スペースの枠線の検出方法および装置 |
Publications (3)
Publication Number | Publication Date |
---|---|
BR112018008270A2 BR112018008270A2 (pt) | 2018-10-23 |
BR112018008270A8 true BR112018008270A8 (pt) | 2023-01-31 |
BR112018008270B1 BR112018008270B1 (pt) | 2023-03-21 |
Family
ID=58556864
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR112018008270-8A BR112018008270B1 (pt) | 2015-10-22 | 2015-10-22 | Dispositivo e método de detecção de linha de vaga de estacionamento |
Country Status (11)
Country | Link |
---|---|
US (1) | US10810446B2 (pt) |
EP (1) | EP3367336B1 (pt) |
JP (1) | JP6562081B2 (pt) |
KR (1) | KR102073496B1 (pt) |
CN (1) | CN108351958B (pt) |
BR (1) | BR112018008270B1 (pt) |
CA (1) | CA3002639C (pt) |
MX (1) | MX2018004708A (pt) |
MY (1) | MY188579A (pt) |
RU (1) | RU2691498C1 (pt) |
WO (1) | WO2017068699A1 (pt) |
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US11535152B2 (en) * | 2017-09-29 | 2022-12-27 | Hitachi Astemo, Ltd. | Parking support device |
US10583779B2 (en) * | 2017-10-02 | 2020-03-10 | Magna Electronics Inc. | Parking assist system using backup camera |
KR102077573B1 (ko) * | 2018-01-31 | 2020-02-17 | 엘지전자 주식회사 | 자동 주차 시스템 및 차량 |
CN108346313B (zh) * | 2018-04-19 | 2020-10-09 | 浪潮集团有限公司 | 一种空车位检测方法及*** |
CN110654375A (zh) * | 2018-06-29 | 2020-01-07 | 比亚迪股份有限公司 | 自动泊车方法、装置、***及车辆 |
CN109515431B (zh) * | 2018-11-02 | 2020-06-02 | 浙江吉利汽车研究院有限公司 | 一种集成式自动泊车***及自动泊车方法 |
JP2020095623A (ja) | 2018-12-14 | 2020-06-18 | 株式会社デンソーテン | 画像処理装置および画像処理方法 |
JP7203586B2 (ja) * | 2018-12-14 | 2023-01-13 | 株式会社デンソーテン | 画像処理装置および画像処理方法 |
JP7359541B2 (ja) | 2018-12-14 | 2023-10-11 | 株式会社デンソーテン | 画像処理装置および画像処理方法 |
JP7195131B2 (ja) | 2018-12-14 | 2022-12-23 | 株式会社デンソーテン | 画像処理装置および画像処理方法 |
JP2020095620A (ja) | 2018-12-14 | 2020-06-18 | 株式会社デンソーテン | 画像処理装置および画像処理方法 |
JP7141940B2 (ja) * | 2018-12-14 | 2022-09-26 | 株式会社デンソーテン | 画像処理装置および画像処理方法 |
JP2020095631A (ja) | 2018-12-14 | 2020-06-18 | 株式会社デンソーテン | 画像処理装置および画像処理方法 |
JP2020095624A (ja) | 2018-12-14 | 2020-06-18 | 株式会社デンソーテン | 画像処理装置、および画像処理方法 |
JP7236857B2 (ja) | 2018-12-14 | 2023-03-10 | 株式会社デンソーテン | 画像処理装置および画像処理方法 |
JP7226986B2 (ja) | 2018-12-14 | 2023-02-21 | 株式会社デンソーテン | 画像処理装置および画像処理方法 |
JP7252750B2 (ja) | 2018-12-14 | 2023-04-05 | 株式会社デンソーテン | 画像処理装置および画像処理方法 |
JP7203587B2 (ja) | 2018-12-14 | 2023-01-13 | 株式会社デンソーテン | 画像処理装置および画像処理方法 |
JP7229804B2 (ja) * | 2019-02-14 | 2023-02-28 | フォルシアクラリオン・エレクトロニクス株式会社 | 画像処理装置及び画像処理方法 |
CN111429469B (zh) * | 2019-04-17 | 2023-11-03 | 杭州海康威视数字技术股份有限公司 | 泊位位置确定方法、装置、电子设备及存储介质 |
JP7190393B2 (ja) * | 2019-05-13 | 2022-12-15 | 本田技研工業株式会社 | 車両制御装置、車両管理装置、車両制御方法、およびプログラム |
JP7323413B2 (ja) * | 2019-10-11 | 2023-08-08 | トヨタ自動車株式会社 | 駐車支援装置 |
JP6975766B2 (ja) * | 2019-12-13 | 2021-12-01 | 本田技研工業株式会社 | 駐車支援装置、駐車支援方法及びプログラム |
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-
2015
- 2015-10-22 BR BR112018008270-8A patent/BR112018008270B1/pt active IP Right Grant
- 2015-10-22 US US15/769,267 patent/US10810446B2/en active Active
- 2015-10-22 WO PCT/JP2015/079893 patent/WO2017068699A1/ja active Application Filing
- 2015-10-22 KR KR1020187013551A patent/KR102073496B1/ko active IP Right Grant
- 2015-10-22 CN CN201580083891.4A patent/CN108351958B/zh active Active
- 2015-10-22 EP EP15906705.7A patent/EP3367336B1/en active Active
- 2015-10-22 RU RU2018118334A patent/RU2691498C1/ru active
- 2015-10-22 JP JP2017546355A patent/JP6562081B2/ja active Active
- 2015-10-22 MY MYPI2018701543A patent/MY188579A/en unknown
- 2015-10-22 CA CA3002639A patent/CA3002639C/en active Active
- 2015-10-22 MX MX2018004708A patent/MX2018004708A/es active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
EP3367336A1 (en) | 2018-08-29 |
KR20180069855A (ko) | 2018-06-25 |
US20180307919A1 (en) | 2018-10-25 |
MY188579A (en) | 2021-12-22 |
EP3367336A4 (en) | 2018-12-26 |
CN108351958B (zh) | 2022-03-25 |
JPWO2017068699A1 (ja) | 2018-09-13 |
BR112018008270B1 (pt) | 2023-03-21 |
BR112018008270A2 (pt) | 2018-10-23 |
MX2018004708A (es) | 2018-06-18 |
CA3002639C (en) | 2021-07-06 |
RU2691498C1 (ru) | 2019-06-14 |
WO2017068699A1 (ja) | 2017-04-27 |
EP3367336B1 (en) | 2019-12-04 |
CN108351958A (zh) | 2018-07-31 |
US10810446B2 (en) | 2020-10-20 |
JP6562081B2 (ja) | 2019-08-21 |
KR102073496B1 (ko) | 2020-02-04 |
CA3002639A1 (en) | 2017-04-27 |
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B06U | Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette] | ||
B09A | Decision: intention to grant [chapter 9.1 patent gazette] | ||
B15K | Others concerning applications: alteration of classification |
Free format text: AS CLASSIFICACOES ANTERIORES ERAM: G06T 7/60 , B60R 21/00 Ipc: G06T 7/13 (2017.01), G06T 7/73 (2017.01), G06T 7/6 |
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