CN105513410B - A kind of parking stall recognition methods and device based on imperceptible structured light projection - Google Patents
A kind of parking stall recognition methods and device based on imperceptible structured light projection Download PDFInfo
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- CN105513410B CN105513410B CN201510832125.5A CN201510832125A CN105513410B CN 105513410 B CN105513410 B CN 105513410B CN 201510832125 A CN201510832125 A CN 201510832125A CN 105513410 B CN105513410 B CN 105513410B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
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Abstract
The present invention relates to position identification technology field, more particularly, to a kind of parking stall recognition methods based on imperceptible structured light projection and device.The problem of present invention exists for prior art, a kind of parking stall recognition methods based on imperceptible structured light projection and device are provided, to one structured light light source device of increase above image collecting device, the sightless structure light of projection naked eyes, whether the method deformed by analytical structure light pattern carries out vehicle size estimation, occupied on parking stall so as to judge.Coordinated by structured light light source device, image collecting device and processor, by the parking stall regional image information of collection in worksite with carrying out pixel matching without car parking stall image template, judge whether parking stall is occupied.
Description
Technical field
The present invention relates to position identification technology field, knows more particularly, to a kind of parking stall based on imperceptible structured light projection
Other method and apparatus.
Background technology
The monitoring of parking lot empty parking space can improve the efficiency of management in parking lot, current parking stall identification technology master with management
Have including：
1st, ultrasonic probe detects；The whether occupied message in parking stall is obtained by detecting reflection echo.But ultrasonic wave
Because of external air flow, temperature change and influence performance, when non-vehicle object passes through detection zone, it is likely that produce interference；Next, by
In the limitation of the transmission range and resolution ratio of ultrasonic wave, parking stall edge image can not be extracted, and then accurately identify parking stall；Again
Secondary, ultrasonic probe detection wiring is complicated, and installation cost is high, and a ultrasonic probe can only detect single parking stall；
2nd, graph line determination method：It is that multiple parking stalls are identified by a camera, but single car can only be detected
Position, and the requirement to the accurate detection in parking stall can not be met.
The content of the invention
The technical problems to be solved by the invention are：The problem of existing for prior art, there is provided one kind is based on invisible
The parking stall recognition methods of structured light projection and device, to one structured light light source device of increase above image collecting device, projection
Visually sightless structure light, the method deformed by analytical structure light pattern carries out vehicle size estimation, so as to judge to stop
It is whether occupied on position.
The technical solution adopted by the present invention is as follows：
A kind of parking stall recognition methods based on imperceptible structured light projection includes：
Step 1：When including structure light reflective mirror and during IMAQ reflective mirror；Perform step 2；Otherwise, step is performed
3；
Step 2：Structured light light source device projective structure light is to structure light reflective mirror reflective surface, structure light mirror reflection knot
The structure light of structure radiant device projection to parking stall region, IMAQ reflective mirror reflective surface gathers parking stall regional image information,
Parking stall regional image information in image collecting device shooting image collection reflective mirror；Then image collecting device is by image information
Processor is returned to, performs step 4；
Step 3：Structured light light source device projects and structure light of the ground angle less than 90 °；Image collecting device is continuously caught
Parking stall regional image information is caught, and image information is returned into processor；Perform step 4；
Step 4：Processor receives parking stall regional image information, by carrying out image threshold segmentation method to the parking stall region
Image information is handled, and obtains parking stall area grid pattern, performs step 5；
Step 5：Processor carries out images match by the parking stall area grid pattern and without car parking stall area image template,
If the match is successful, show that now parking stall is unoccupied；Otherwise, show that now parking stall is occupied.
Further, the structured light light source device is fixedly connected with image collecting device, described image harvester peace
Height is filled to be 2 to 3 meters apart from ground vertical range；The structure light radiant is located at 30 to 100 above image collecting device
Centimeters, the structured light light source projecting direction are more than 20 ° with image collecting device sight angle.
Further, the no car parking stall area image template construct process：Handmarking's empty wagons bitmap when installing equipment
Picture, no car parking stall image template lattice is extracted according to the step 4, if there is car the parking stall always, using closing on car
Bit patterns are generated without car parking stall area image template.
Further, step 5 detailed process is：
Step 51：Registration is carried out by parking stall area grid pattern and without car parking stall image template lattice, eliminates perspective
Deformation, template matches calculating is then carried out, obtains M*N matched patterns, and projected the grid in vehicle body region and project ground
Grid pixel cause grid to be deformed because vehicle body blocks, will be unable to match；Wherein M and N is respectively that parking stall region is wide
The grid number of degree and short transverse；
Step 52：Calculate the pixel girth of each grid in M*N matched patterns, if the girth with without car parking stall image
The ratio that grid girth is corresponded in template mesh pattern is less than given threshold, and the grid is considered as to the grid that can not substantially match,
Labeled as object location；Otherwise, labeled as ground location；Wherein given threshold scope is 0.4 to 0.6；
Step 53：By X compared with detection threshold value T；When X is more than T, then show that now parking stall is occupied；Otherwise, table
Bright now parking stall is unoccupied；Accuracy of detection as needed wherein T is set, and scope is 0.4 to 0.6；X is detects object institute
In scope and the ratio without car parking stall elemental area.
Further, the structure light reflective mirror and IMAQ reflective mirror all include the first reflective mirror, with it is first anti-
Light microscopic is fixedly connected and has the second reflective mirror of angle, and first reflective mirror and the second clamp for reflector angular region are 100-150
Degree；The structure light reflective mirror, IMAQ reflective mirror, structured light light source device and image collecting device are vertically fixedly connected
In on insulating support rod；Structure light reflective mirror is located above structured light light source device；IMAQ reflective mirror is located at IMAQ
Between device and structured light light source device, the insulating support rod and horizontal plane.
A kind of stall recognition device based on imperceptible structured light projection includes：
Structured light light source device, it is less than 90 ° of structure light with ground angle for projecting；
Image collecting device, processing is returned to for the image information in continuous acquisition parking stall region, and by image information
Device；
Processor, for receiving parking stall regional image information, by carrying out image threshold segmentation method to the parking stall region
Image information is handled, and obtains parking stall area grid pattern, by the parking stall area grid pattern and without car parking stall administrative division map
As template progress images match, if the match is successful, show that now parking stall is unoccupied；Otherwise, show that now parking stall is occupied.
A kind of stall recognition device based on imperceptible structured light projection includes：
Structured light light source device projective structure light is to structure light reflective mirror reflective surface；
The structure light of structure light mirror reflection structured light light source device projection is to parking stall region；
IMAQ reflective mirror reflective surface gathers parking stall regional image information；
Parking stall regional image information in image collecting device shooting image collection reflective mirror；Then image collecting device will
Image information returns to processor；
Processor, for receiving parking stall regional image information, by carrying out image threshold segmentation method to the parking stall region
Image information is handled, and obtains parking stall area grid pattern, by the parking stall area grid pattern and without car parking stall administrative division map
As template progress images match, if the match is successful, show that now parking stall is unoccupied；Otherwise, show that now parking stall is occupied
Further, the structured light light source device is fixedly connected with image collecting device, described image harvester peace
Height is filled to be 2 to 3 meters apart from ground vertical range；The structure light radiant is located at 30 to 100 above image collecting device
Centimeters, the structured light light source projecting direction are not more than 20 ° with image collecting device sight angle；The no car parking stall region
Image template manufacturing process：Handmarking's empty wagons bit image when installing equipment；Processor receives parking stall regional image information, passes through
Carrying out image threshold segmentation method is handled the parking stall regional image information, obtains parking stall area grid pattern extraction without car car
Bit image template mesh pattern, if there is car the parking stall always, using closing on parking stall pattern generation without car parking stall area image
Template.
Further, the processor carries out figure by the parking stall area grid pattern and without car parking stall area image template
As matching, if the match is successful, show that now parking stall is unoccupied；Otherwise, the now occupied specific implementation process in parking stall is shown
It is：First, registration is carried out by parking stall area grid pattern and without car parking stall image template lattice, eliminates perspective deformation, so
Template matches calculating is carried out afterwards, obtains M*N matched patterns, and is projected the grid in vehicle body region and projected the grid image on ground
Vegetarian refreshments causes grid to be deformed because vehicle body blocks, and will be unable to match；Wherein M and N is respectively parking stall peak width and height
The grid number in direction；
Then, calculate the pixel girth of each grid in M*N matched patterns, if the girth with without car parking stall image mould
The ratio that grid girth is corresponded in expanded metals grid pattern is less than given threshold, and the grid is considered as to the grid that can not substantially match, mark
It is designated as object location；Otherwise, labeled as ground location；Wherein given threshold scope is 0.4 to 0.6；
Finally, by X compared with detection threshold value T；When X is more than T, then show that now parking stall is occupied；Otherwise, show
Now parking stall is unoccupied；Accuracy of detection as needed wherein T is set, and scope is 0.4 to 0.6；X is to detect object place
Scope and the ratio without car parking stall elemental area.
Further, the structure light reflective mirror and IMAQ reflective mirror all include the first reflective mirror, with it is first anti-
Light microscopic is fixedly connected and has the second reflective mirror of angle, and first reflective mirror and the second clamp for reflector angular region are 100-150
Degree；The structure light reflective mirror, IMAQ reflective mirror, structured light light source device and image collecting device are vertically fixedly connected
In on insulating support rod；Structure light reflective mirror is located above structured light light source device；IMAQ reflective mirror is located at IMAQ
Between device and structured light light source device.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
1st, structured light light source device and image collector set as one formula, easy for installation, are hardly damaged, do not have to ambient lighting
Require.
2nd, structured light light source device projective structure light, article size shape is estimated by the scope of pattern deformation, significantly carried
Height is to vehicle detection accuracy rate, and experiment is up to more than 95%.
3rd, structured light light source device projection imperceptible structured light does not have vision interference, and projects energy and more disperse, no
Injury can be produced to vehicle body or naked eyes.
4th, the structure light reflective mirror and IMAQ reflective mirror of two speculums are included by setting so that IMAQ is anti-
The light microscopic visual field can cover both sides parking stall, and image collecting device face IMAQ reflective mirror, can photograph the figure simultaneously
As the image of collection two minute surfaces of reflective mirror, so as to realize while monitor the purpose of two row parking stalls, without using wide-angle lens, pole
Reduce cost greatly.
Brief description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is present apparatus scheme of installation.
Fig. 2 is present apparatus structure chart (no supporting bar structure).
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), except non-specifically chatting
State, can alternative features equivalent by other or with similar purpose replaced.I.e., unless specifically stated otherwise, each feature
It is an example in a series of equivalent or similar characteristics.
Related description of the present invention：
1st, structured light light source device 1 is laser, infrared light supply or LED light source.The structure of structured light light source device projection
Light can be light belt, dot matrix, grid etc..In the case of occupied (parked vehicles on parking stall), the structure light of projection is in vehicle body
On can produce it is reflective or scattering, cause to deform or lack, it is visibly different with the pattern in light source projects to ground so as to produce
Irregular pattern.
2nd, image collecting device 2 is video camera.
Cleaning Principle：Because ground is plane, vehicle body is three-dimensional object.Imperceptible structured light (structured light light source device) is thrown
It is integrally more smooth clear to be mapped to the structured light patterns on ground, and the structured light patterns for projecting vehicle body can produce irregular deformation
Or missing.Article size shape can be estimated according to the areal extent of deformation and missing, judged whether occupied.Avoid passing through a little
Or easy be disturbed of line detection causes flase drop, the situation of missing inspection；And further in structured light light source device and image collecting device
A Bidirectional mirror is respectively installed in top, can detect two row parking stalls simultaneously.
Embodiment one：When the structure light reflective mirror 3 for not being used for catoptric arrangement radiant device projective structure light and use
When the IMAQ reflective mirror 4 of external light source is reflected, the present apparatus includes：
Structured light light source device, it is less than 90 ° of structure light with ground angle for projecting；
Image collecting device, processing is returned to for the image information in continuous acquisition parking stall region, and by image information
Device；
Processor, for receiving parking stall regional image information, by carrying out image threshold segmentation method to the parking stall region
Image information is handled, and obtains parking stall area grid pattern, by the parking stall area grid pattern and without car parking stall administrative division map
As template progress images match, if the match is successful, show that now parking stall is unoccupied；Otherwise, show that now parking stall is occupied.
Further, the structured light light source device is fixedly connected with image collecting device, described image harvester peace
Height is filled to be 2 to 3 meters apart from ground vertical range；The structure light radiant is located at 30 to 100 above image collecting device
Centimeters, the structured light light source projecting direction are not more than 20 ° with image collecting device sight angle.
Embodiment two：When having for the reflective mirror of catoptric arrangement radiant device projective structure light and for reflecting the external world
During the IMAQ reflective mirror of light source, the present apparatus includes：
Structured light light source device projective structure light is to structure light reflective mirror reflective surface；
The structure light of structure light mirror reflection structured light light source device projection is to parking stall region；
IMAQ reflective mirror reflective surface gathers parking stall regional image information；
Parking stall regional image information in image collecting device shooting image collection reflective mirror；Then image collecting device will
Image information returns to processor；
Processor, for receiving parking stall regional image information, by carrying out image threshold segmentation method to the parking stall region
Image information is handled, and obtains parking stall area grid pattern, by the parking stall area grid pattern and without car parking stall administrative division map
As template progress images match, if the match is successful, show that now parking stall is unoccupied；Otherwise, show that now parking stall is occupied；
The structure light reflective mirror and IMAQ reflective mirror all include the first reflective mirror, fix company with the first reflective mirror
Connect and have the second reflective mirror of angle, the first reflective mirror back side (non-reflective minute surface) and the second reflective mirror back side angle model
It is 100-150 degree to enclose；The structure light reflective mirror, IMAQ reflective mirror, structured light light source device and image collecting device
Vertically it is fixedly connected on insulating support rod；Structure light reflective mirror is located above structured light light source device；IMAQ reflective mirror
Between image collecting device and structured light light source device；Structured light light source device, image collecting device correspond to projection respectively
To structure light reflective mirror reflective surface, IMAQ reflective mirror reflective surface.
The invention is not limited in foregoing embodiment.The present invention, which expands to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (10)
- A kind of 1. parking stall recognition methods based on imperceptible structured light projection, it is characterised in that including：Step 1：When including structure light reflective mirror and during IMAQ reflective mirror；Perform step 2；Otherwise, step 3 is performed；Step 2：Structured light light source device projective structure light is to structure light reflective mirror reflective surface, structure light mirror reflection structure light The structure light of light supply apparatus projection to parking stall region, IMAQ reflective mirror reflective surface gathers parking stall regional image information, image Parking stall regional image information in harvester shooting image collection reflective mirror；Then image collecting device returns image information To processor, step 4 is performed；Step 3：Structured light light source device projects and structure light of the ground angle less than 90 °；Image collecting device continuous capturing car Position regional image information, and image information is returned into processor；Perform step 4；Step 4：Processor receives parking stall regional image information, by carrying out image threshold segmentation method to the parking stall area image Information is handled, and obtains parking stall area grid pattern, performs step 5；Step 5：Processor carries out images match by the parking stall area grid pattern and without car parking stall region template lattice, If the match is successful, show that now parking stall is unoccupied；Otherwise, show that now parking stall is occupied；Step 5 detailed process is：Step 51：Registration is carried out by parking stall area grid pattern and without car parking stall image template lattice, eliminates perspective deformation, Then template matches calculating is carried out, obtains M*N matched patterns；Wherein M and N is respectively parking stall peak width and the net of short transverse Lattice number；Step 52：Calculate the pixel girth of each grid in M*N matched patterns, if the girth with without car parking stall image template The ratio that grid girth is corresponded in lattice is less than given threshold, and the grid is considered as to the grid that can not substantially match, mark For object location；Otherwise, labeled as ground location；Wherein given threshold scope is 0.4 to 0.6；Step 53：By X compared with detection threshold value T；When X is more than T, then show that now parking stall is occupied；Otherwise, this is shown When parking stall it is unoccupied；Accuracy of detection as needed wherein T is set, and scope is 0.4 to 0.6；X is to detect model where object Enclose and the ratio without car parking stall elemental area.
- A kind of 2. parking stall recognition methods based on imperceptible structured light projection according to claim 1, it is characterised in that institute State structured light light source device to be fixedly connected with image collecting device, described image harvester setting height(from bottom) is vertical apart from ground Distance is 2 to 3 meters；The structured light light source is located at 30 to 100 centimeters above image collecting device, and the structured light light source is thrown Penetrate direction and be more than 20 ° with image collecting device sight angle.
- A kind of 3. parking stall recognition methods based on imperceptible structured light projection according to claim 1 or 2, it is characterised in that The no car parking stall area image template construct process：The handmarking parking stall is the image of space-time when installing equipment, according to step Rapid 4 extraction is without car parking stall image template lattice, if there is car the parking stall always, use neighbouring empty parking space pattern generation without Car parking stall area image template.
- A kind of 4. parking stall recognition methods based on imperceptible structured light projection according to claim 1 or 2, it is characterised in that The structure light reflective mirror and IMAQ reflective mirror all include the first reflective mirror, are fixedly connected with the first reflective mirror and have folder Second reflective mirror at angle, the first reflective mirror back side and the second reflective mirror back side angular range are 100-150 degree；The structure Light reflective mirror, IMAQ reflective mirror, structured light light source device and image collecting device are vertically fixedly connected on insulating supporting On bar；Structure light reflective mirror is located above structured light light source device；IMAQ reflective mirror is located at image collecting device and structure Between radiant device.
- A kind of 5. parking stall recognition methods based on imperceptible structured light projection according to claim 3, it is characterised in that institute Stating structure light reflective mirror and IMAQ reflective mirror all includes the first reflective mirror, is fixedly connected with the first reflective mirror and has angle The second reflective mirror, the first reflective mirror back side and the second reflective mirror back side angular range are 100-150 degree；The structure light Reflective mirror, IMAQ reflective mirror, structured light light source device and image collecting device are vertically fixedly connected on insulating support rod On；Structure light reflective mirror is located above structured light light source device；IMAQ reflective mirror is located at image collecting device and structure light Between light supply apparatus.
- A kind of 6. stall recognition device based on imperceptible structured light projection, it is characterised in that including：Structured light light source device, it is less than 90 ° of structure light with ground angle for projecting；Image collecting device, processor is returned to for the image information in continuous acquisition parking stall region, and by image information；Processor, for receiving parking stall regional image information, by carrying out image threshold segmentation method to the parking stall area image Information is handled, and obtains parking stall area grid pattern, by the parking stall area grid pattern and without car parking stall area image mould Plate carries out images match, if the match is successful, shows that now parking stall is unoccupied；Otherwise, show that now parking stall is occupied；The processor carries out images match by the parking stall area grid pattern and without car parking stall area image template, if matching Success, then show that now parking stall is unoccupied；Otherwise, show that now parking stall is occupied, specific implementation process is：First, registration is carried out by parking stall area grid pattern and without car parking stall image template lattice, eliminates perspective deformation, so Template matches calculating is carried out afterwards, obtains M*N matched patterns；Wherein M and N is respectively parking stall peak width and the grid of short transverse Number；Then, calculate the pixel girth of each grid in M*N matched patterns, if the girth with without car parking stall image template net The ratio that grid girth is corresponded in grid pattern is less than given threshold, and the grid is considered as to the grid that can not substantially match, is labeled as Object location；Otherwise, labeled as ground location；Wherein given threshold scope is 0.4 to 0.6；Finally, by X compared with detection threshold value T；When X is more than T, then show that now parking stall is occupied；Otherwise, show now Parking stall is unoccupied；Accuracy of detection as needed wherein T is set, and scope is 0.4 to 0.6；X is to detect object location With the ratio without car parking stall elemental area.
- A kind of 7. stall recognition device based on imperceptible structured light projection according to claim 6, it is characterised in that institute State structured light light source device to be fixedly connected with image collecting device, described image harvester setting height(from bottom) is vertical apart from ground Distance is 2 to 3 meters；The structured light light source is located at 30 to 100 centimeters above image collecting device, and the structured light light source is thrown Penetrate direction and be not more than 20 ° with image collecting device sight angle；The no car parking stall area image template construct process：Installation is set Handmarking's empty wagons bit image when standby；Processor receives parking stall regional image information, by carrying out image threshold segmentation method to described Parking stall regional image information is handled, and obtains the extraction of parking stall area grid pattern without car parking stall image template lattice, such as There is car the fruit parking stall always, then using closing on parking stall pattern generation without car parking stall area image template.
- A kind of 8. stall recognition device based on imperceptible structured light projection, it is characterised in that including：Structured light light source device projective structure light is to structure light reflective mirror reflective surface；The structure light of structure light mirror reflection structured light light source device projection is to parking stall region；IMAQ reflective mirror reflective surface gathers parking stall regional image information；Parking stall regional image information in image collecting device shooting image collection reflective mirror；Then image collecting device is by image Information back is to processor；Processor, for receiving parking stall regional image information, by carrying out image threshold segmentation method to the parking stall area image Information is handled, and obtains parking stall area grid pattern；By the parking stall area grid pattern and without car parking stall area image mould Plate carries out images match, if the match is successful, shows that now parking stall is unoccupied；Otherwise, show that now parking stall is occupied；The processor carries out images match by the parking stall area grid pattern and without car parking stall area image template, if matching Success, then show that now parking stall is unoccupied；Otherwise, show that now parking stall is occupied, specific implementation process is：First, registration is carried out by parking stall area grid pattern and without car parking stall image template lattice, eliminates perspective deformation, so Template matches calculating is carried out afterwards, obtains M*N matched patterns；Wherein M and N is respectively parking stall peak width and the grid of short transverse Number；Then, calculate the pixel girth of each grid in M*N matched patterns, if the girth with without car parking stall image template net The ratio that grid girth is corresponded in grid pattern is less than given threshold, and the grid is considered as to the grid that can not substantially match, is labeled as Object location；Otherwise, labeled as ground location；Wherein given threshold scope is 0.4 to 0.6；Finally, by X compared with detection threshold value T；When X is more than T, then show that now parking stall is occupied；Otherwise, show now Parking stall is unoccupied；Accuracy of detection as needed wherein T is set, and scope is 0.4 to 0.6；X is to detect object location With the ratio without car parking stall elemental area.
- A kind of 9. stall recognition device based on imperceptible structured light projection according to claim 8, it is characterised in that institute State structured light light source device to be fixedly connected with image collecting device, described image harvester setting height(from bottom) is vertical apart from ground Distance is 2 to 3 meters；The structured light light source is located at 30 to 100 centimeters above image collecting device, and the structured light light source is thrown Penetrate direction and be not more than 20 ° with image collecting device sight angle；The no car parking stall area image template construct process：Installation is set Handmarking's empty wagons bit image when standby；Processor receives parking stall regional image information, by carrying out image threshold segmentation method to described Parking stall regional image information is handled, and obtains the extraction of parking stall area grid pattern without car parking stall image template lattice, such as There is car the fruit parking stall always, then using closing on parking stall pattern generation without car parking stall area image template.
- 10. a kind of stall recognition device based on imperceptible structured light projection according to claim 8 or claim 9, its feature exist All it is fixedly connected and has including the first reflective mirror, with the first reflective mirror in the structure light reflective mirror and IMAQ reflective mirror Second reflective mirror of angle, the first reflective mirror back side and the second reflective mirror back side angular range are 100-150 degree；The knot Structure light reflective mirror, IMAQ reflective mirror, structured light light source device and image collecting device are vertically fixedly connected on insulation branch On strut；Structure light reflective mirror is located above structured light light source device；IMAQ reflective mirror is located at image collecting device and knot Between structure radiant device.
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