CN110097776B - Parking space detection method, monitoring camera and monitoring terminal - Google Patents
Parking space detection method, monitoring camera and monitoring terminal Download PDFInfo
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- CN110097776B CN110097776B CN201810090179.2A CN201810090179A CN110097776B CN 110097776 B CN110097776 B CN 110097776B CN 201810090179 A CN201810090179 A CN 201810090179A CN 110097776 B CN110097776 B CN 110097776B
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- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
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Abstract
The embodiment of the invention provides a parking space detection method, a monitoring camera and a monitoring terminal, which are applied to the technical field of video monitoring, wherein the method comprises the following steps: and after the vehicles are detected to exist in the parking area to be detected in the picture to be detected, determining the vehicle position coordinates of all detected vehicles in the image coordinate system where the picture to be detected is located. And aiming at each vehicle position coordinate in all the vehicle position coordinates, obtaining the parking space position coordinate closest to the vehicle position coordinate according to the parking space position coordinate of each parking space in the image coordinate system in the parking area to be detected and the vehicle position coordinate. And aiming at each vehicle position coordinate in all the vehicle position coordinates, determining the parking space corresponding to the parking space position coordinate closest to the vehicle position coordinate as the occupied parking space. The parking space detection method and the parking space detection system do not need to set auxiliary identification marks in the parking area in advance, and are not influenced by the auxiliary identification marks on parking space detection, so that the accuracy of parking space detection is improved.
Description
Technical Field
The invention relates to the technical field of video monitoring, in particular to a parking space detection method, a monitoring camera and a monitoring terminal.
Background
With the development of economy in China and the improvement of living standard of people, the number of automobiles is more and more, and the parking spaces for parking are short of supply and demand, so that parking is difficult, and the problem that a vehicle family living in cities is troubled all the time is solved. In the parking lot, as vehicles continuously enter and exit, parking spaces in the parking lot are constantly changed, so that the parking space searching becomes difficult.
In the related parking space detection method, images of parking areas can be collected through the image collection part, and whether a special mark preset on each parking space is covered by a vehicle or not is judged to determine whether the parking space is occupied or not. The auxiliary identification pattern can also be arranged in the middle of the parking space in advance, and whether the parking space is occupied or not can be determined by comparing the image characteristics when the parking space is idle with the currently acquired image characteristics. However, the auxiliary identification mark in the above method is easily affected by external environments (e.g., pedestrian shielding, vehicle shielding in an adjacent parking space, damaged parking space ground environment, etc.), so that the accuracy of the auxiliary identification mark to be identified is reduced, and the accuracy of parking space detection is low.
Disclosure of Invention
The embodiment of the invention aims to provide a parking space detection method, a monitoring camera and a monitoring terminal so as to improve the accuracy of parking space detection. The specific technical scheme is as follows:
the embodiment of the invention provides a parking space detection method, which comprises the following steps:
after detecting that vehicles exist in the parking area to be detected in the acquired picture to be detected, determining vehicle position coordinates of all detected vehicles in an image coordinate system where the picture to be detected is located;
aiming at each vehicle position coordinate in all vehicle position coordinates, obtaining a parking space position coordinate closest to the vehicle position coordinate according to the parking space position coordinate of each parking space in the image coordinate system in the parking area to be detected and the vehicle position coordinate;
and aiming at each vehicle position coordinate in all the vehicle position coordinates, determining the parking space corresponding to the parking space position coordinate closest to the vehicle position coordinate as the occupied parking space.
Optionally, after determining, for each vehicle position coordinate in the all vehicle position coordinates, a parking space corresponding to the obtained parking space position coordinate closest to the vehicle position coordinate as an occupied parking space, the method further includes:
if the number of occupied parking spaces in the parking area to be detected is smaller than the preset number of parking spaces in the parking area to be detected, determining other parking spaces except the occupied parking spaces as unoccupied parking spaces; and if the number of occupied parking spaces in the parking area to be detected is equal to the number of preset parking spaces in the parking area to be detected, determining that all the parking spaces in the parking area to be detected are occupied.
Optionally, after determining, for each vehicle position coordinate in the all vehicle position coordinates, a parking space corresponding to the obtained parking space position coordinate closest to the vehicle position coordinate as an occupied parking space, the method further includes:
if a parking space with a changed parking space occupation condition exists in the parking area to be detected, acquiring parking space information of the parking space with the changed parking space occupation condition;
and sending the changed parking space information to a parking space management system.
Optionally, the determining the vehicle position coordinates of all the detected vehicles in the image coordinate system where the to-be-detected picture is located includes:
aiming at each detected vehicle in all vehicles, representing the vehicle through a rectangular frame, and acquiring the vertex position coordinate of any vertex of the rectangular frame in an image coordinate system where the picture to be detected is located, the width of the rectangular frame and the height of the rectangular frame;
and calculating the center position coordinate of the rectangular frame according to the vertex position coordinate, the width and the height, and taking the center position coordinate as the vehicle position coordinate of the vehicle.
Optionally, before obtaining a parking space position coordinate closest to the vehicle position coordinate according to the parking space position coordinate of each parking space in the image coordinate system and the vehicle position coordinate in the parking area to be detected, the method further includes:
the method comprises the steps of receiving a parking space identifier set by a user in an OSD (on screen display) configuration interface of a screen menu type adjustment mode aiming at each parking space, adding the set parking space identifier to a preset position of the parking space in a to-be-detected parking area based on the movement operation of the user on the set parking space identifier, establishing a corresponding relation between the parking space identifier and the parking space, setting the parking space identifier according to the size of each parking space, wherein the parking space identifiers of different parking spaces are different.
Optionally, add the parking stall sign that sets up to wait to detect the preset position of this parking stall in the parking area, include:
covering the set parking space mark on the preset position of the parking space in the parking area to be detected, or,
and replacing the preset position of the parking space in the parking area to be detected with the set parking space identifier, wherein the replaced area of the preset position is the same as the occupied area of the parking space identifier.
Optionally, the following method is adopted to determine the parking space position coordinates of each parking space in the image coordinate system in the parking area to be detected:
and acquiring the position coordinates of the parking space marks of the parking spaces in the image coordinate system, and respectively and correspondingly taking the position coordinates as the parking space position coordinates of the parking spaces.
Optionally, the parking space detection method according to the embodiment of the present invention further includes:
and if no vehicle exists in the parking area to be detected in the picture to be detected, determining that the parking spaces in the parking area to be detected are unoccupied.
Optionally, the picture to be detected is a plurality of continuous video frame pictures acquired periodically.
Optionally, the arrangement condition and the number of the parking spaces in the parking area to be detected are respectively the same as the arrangement condition and the number of the parking spaces in the parking area to be monitored.
An embodiment of the present invention provides a surveillance camera, including:
the image sensor is used for acquiring image data and transmitting the acquired image data to the digital signal processor;
the digital signal processor is used for processing the received image data to obtain a picture to be detected;
a memory for storing machine executable instructions executable by the embedded microprocessor;
the embedded microprocessor is used for realizing the steps of any one of the parking space detection methods when the machine executable instruction is executed on the picture to be detected.
An embodiment of the present invention provides a monitoring terminal, including: the parking space detection method comprises a processor and a machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions capable of being executed by the processor, and when the processor executes the machine-executable instructions, the steps of any one of the parking space detection methods are realized.
The embodiment of the invention provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and the computer program is executed by a processor to realize the steps of any one of the parking space detection methods.
According to the parking space detection method, the monitoring camera and the monitoring terminal provided by the embodiment of the invention, after the fact that the vehicles exist in the parking area to be detected in the obtained picture to be detected is detected, the vehicle position coordinates of all detected vehicles in the image coordinate system where the picture to be detected is located are determined; aiming at each vehicle position coordinate in all vehicle position coordinates, obtaining a parking space position coordinate closest to the vehicle position coordinate according to the parking space position coordinate of each parking space in the image coordinate system in the parking area to be detected and the vehicle position coordinate; and determining the parking space corresponding to the parking space position coordinate closest to the vehicle position coordinate as the occupied parking space. According to the embodiment of the invention, the parking space occupation condition is detected by a method for comparing the position coordinates of the vehicle with the position coordinates of the parking spaces, namely a method for determining the position coordinates of the parking spaces closest to the position coordinates of the vehicle, an auxiliary identification mark is not required to be preset in a parking area, and the parking space detection accuracy can be improved because the auxiliary identification mark is not influenced. In addition, the embodiment of the invention does not need to arrange a physical detection device in the parking area, thereby reducing the complexity of arrangement of the parking space detection system. Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a parking space detection method according to an embodiment of the present invention;
fig. 2 is another flowchart of a parking space detection method according to an embodiment of the present invention;
fig. 3a is a diagram of a horizontal parking space arrangement in a parking area to be detected according to an embodiment of the present invention;
fig. 3b is a diagram of another arrangement of horizontal parking spaces in the parking area to be detected according to the embodiment of the present invention;
fig. 3c is a diagram of a longitudinal arrangement of parking spaces in a parking area to be detected according to an embodiment of the present invention;
fig. 3d is another longitudinal arrangement diagram of parking spaces in the parking area to be detected according to the embodiment of the present invention;
fig. 4 is a structural diagram of a parking space detection device according to an embodiment of the present invention;
fig. 5 is another structural diagram of the parking space detection device according to the embodiment of the present invention;
fig. 6 is a structural diagram of a monitoring terminal according to an embodiment of the present invention;
fig. 7 is a structural diagram of a monitoring camera according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the related parking space detection method, the auxiliary identification mark is arranged in each parking space, the occupation condition of the parking space is detected according to the auxiliary identification mark, but the auxiliary identification mark is easily influenced by the external environment, so that the parking space detection accuracy is relatively low.
The following first describes the parking space detection method provided by the embodiment of the invention in detail.
Referring to fig. 1, fig. 1 is a flowchart of a parking space detection method according to an embodiment of the present invention, including the following steps:
s101, after the fact that the vehicles exist in the parking area to be detected in the acquired picture to be detected is detected, the vehicle position coordinates of all detected vehicles in the image coordinate system where the picture to be detected is located are determined.
And S102, aiming at each vehicle position coordinate in all the vehicle position coordinates, obtaining the parking space position coordinate closest to the vehicle position coordinate according to the parking space position coordinate of each parking space in the image coordinate system in the parking area to be detected and the vehicle position coordinate.
And S103, aiming at each vehicle position coordinate in all the vehicle position coordinates, determining the parking space corresponding to the parking space position coordinate closest to the vehicle position coordinate as the occupied parking space.
The parking space detection method in the embodiment of fig. 1 has the advantages that the parking space occupation condition in the parking area to be detected is detected by comparing the vehicle position coordinate with the parking space position coordinate, namely, by determining the parking space position coordinate closest to the vehicle position coordinate, an auxiliary identification mark does not need to be preset in the parking area, and the parking space detection accuracy can be improved because the parking space occupation condition is not influenced by the auxiliary identification mark. In addition, the embodiment of the invention does not need to arrange a physical detection device in the parking area, thereby reducing the complexity of arrangement of the parking space detection system.
Referring to fig. 2, fig. 2 is another flowchart of a parking space detection method according to an embodiment of the present invention, including the following steps:
s201, after the fact that the vehicles exist in the parking area to be detected in the acquired picture to be detected is detected, the vehicle position coordinates of all detected vehicles in the image coordinate system where the picture to be detected is located are determined.
In the embodiment of the present invention, a monitoring camera may be deployed according to an actual parking area environment, and in a configuration interface of the monitoring camera, a region including a certain number (for example, a preset number of parking stalls) of parking stalls may be configured as a parking area to be detected, for example, a plurality of points may be clicked in a monitoring picture of the monitoring camera to form a region (a rectangular frame or an oval frame, etc.), where the region includes a certain number of parking stalls, and the region is used as a parking area to be detected. And then, drawing lines for the parking spaces contained in the parking area to be detected according to the boundary lines of the parking spaces shot by the monitoring camera to obtain the parking spaces contained in the parking area to be detected. Therefore, the arrangement condition and the number of the parking spaces in the parking area to be detected are respectively the same as the arrangement condition and the number of the parking spaces in the actual parking area, and the preset number of the parking spaces is the number of the parking spaces in the actual parking area. Each parking space can also be configured in the configuration interface of the monitoring camera, for example, a parking space identifier is added to each parking space. The monitoring camera only detects vehicles in the parking area to be detected, and the area outside the parking area to be detected is not in the detection range of the monitoring camera.
The monitoring camera can monitor the parking area to be detected in real time, so that a parking space monitoring video is obtained. Because the parking space monitoring video is formed by one frame of picture, the picture to be detected is the picture extracted from the parking space monitoring video, and the time interval between every two frames of pictures is generally dozens of milliseconds, in order to improve the accuracy of parking space detection, the embodiment of the invention can carry out continuous multi-frame detection, for example, the detection can be carried out in the second level. That is to say, the picture to be detected may be a plurality of continuous video frame pictures extracted from the parking space monitoring video. Usually, the parking space detection is real-time detection, and the picture to be detected can be a plurality of continuous video frame pictures at the current moment extracted from the parking space monitoring video. For example, if the current time is 9:00, the picture to be detected is a plurality of video frame pictures corresponding to the time 9:00 in the parking space monitoring video.
In addition, the parking space detection can be periodic, and a plurality of continuous video frame pictures can be acquired as the pictures to be detected every time a detection period passes. Of course, different detection cycles can be set according to the flowing conditions of the vehicles in the parking areas to be detected in different time periods. For example, during the time periods 8:00-10:00 am and 5:00-7:00 pm, which are rush hours on duty and off duty, the flow of vehicles is more frequent, a shorter detection period may be set, and other time periods may be set with a longer detection period. Like this, can also alleviate data processing's pressure when satisfying the parking stall demand of detecting. Since the picture to be detected includes a plurality of video frame pictures, a vehicle exists in the parking area to be detected in the picture to be detected, that is, a vehicle exists in the parking area to be detected in any video frame picture included in the picture to be detected. All detected vehicles refer to a set of all vehicles detected in a plurality of continuous video frame pictures contained in the picture to be detected, and if vehicles are detected at the same positions in the plurality of continuous video frame pictures, one vehicle can be selected.
The image coordinate system can be established according to the pictures in the parking space monitoring video, optionally, the top left corner vertex of the pictures can be set as the origin of the image coordinate system, the abscissa axis is the x axis, the ordinate axis is the y axis from left to right, and the ordinate axis is from top to bottom. The lower left corner of the picture can also be set as the origin of an image coordinate system, the abscissa axis is the x axis, from left to right, and the ordinate axis is the y axis, from bottom to top. Of course, other methods of setting the image coordinate system are possible. Therefore, if the vehicles exist in the parking area to be detected in the picture to be detected, the vehicle position coordinates of all detected vehicles can be determined according to the image coordinate system.
In one implementation of the invention, the method of determining the vehicle position coordinates of all the detected vehicles comprises the following steps:
the method comprises the steps of firstly, aiming at each detected vehicle in all vehicles, representing the vehicle through a rectangular frame, and obtaining the vertex position coordinate of any vertex of the rectangular frame in an image coordinate system where a picture to be detected is located, the width of the rectangular frame and the height of the rectangular frame.
Because the vehicle occupies a certain space and the sizes of different vehicles are different, in the embodiment of the invention, the vehicle can be represented by the rectangular frame, and the position coordinates of the vehicle can be represented by the coordinates in the rectangular frame. Then, the vertex position coordinates of any vertex of the rectangular frame in the image coordinate system, the width of the rectangular frame, and the height of the rectangular frame may be acquired.
And secondly, calculating the center position coordinate of the rectangular frame according to the vertex position coordinate, the width and the height, and taking the center position coordinate as the vehicle position coordinate of the vehicle.
In the embodiment of the invention, after the vertex position coordinates, the width of the rectangular frame and the height of the rectangular frame are obtained, the center position coordinates of the rectangular frame can be obtained through calculation, and the center position coordinates can be used as the vehicle position coordinates of the vehicle because the center position coordinates more accurately represent the position of the vehicle.
S202, aiming at each vehicle position coordinate in all vehicle position coordinates, according to the parking space position coordinate of each parking space in the image coordinate system in the parking area to be detected and the vehicle position coordinate, obtaining the parking space position coordinate closest to the vehicle position coordinate.
In the embodiment of the invention, after the position of the monitoring camera and the parking area to be detected are determined, the position of the parking space monitored in the parking space monitoring video is unchanged, that is, the parking space position coordinate of the parking space in each frame of picture of the parking space monitoring video is unchanged. And according to the image coordinate system, the parking space position coordinates of each parking space in the parking area to be detected can be obtained. In S201, the vehicle position coordinates of all the detected vehicles are obtained, and for each of the vehicle position coordinates, if the vehicle position coordinate is (x)0,y0) The position coordinate of the parking space is (x)i,yi) If the number of the parking spaces is N, the value of i is an integer from 1 to N; the formula can be calculated from the distance:
obtaining the position coordinate of the parking space corresponding to the minimum D value, wherein the position coordinate of the parking space is the position of the parking space closest to the position coordinate of the vehicleAnd (4) marking. If M vehicles exist, the position coordinates of the parking spaces closest to each vehicle in the M vehicles can be obtained, and the position coordinates of the M parking spaces closest to each vehicle can be obtained. Wherein M and N are integers greater than 0.
For each parking space in the parking area to be detected, different parking space identifiers can be set for each parking space in the parking area to be detected by adding an OSD (On Screen Display, Screen menu type adjustment mode) in the picture to be detected, and the corresponding relation between the parking space identifiers and the parking spaces is established. The OSD is used to generate some special characters or graphics in the video, which is convenient for the user to obtain the relevant information. For example, a number may be added to the center of each slot, and each number uniquely identifies a slot. Then, the position coordinates of the parking space identifications in the image coordinate system can be acquired and respectively and correspondingly used as the parking space position coordinates of the parking spaces. For example, the parking space position coordinates of each parking space may be represented by position coordinates of numbers in each parking space in an image coordinate system, which may be referred to fig. 3a, 3b, 3c, and 3d, which are respectively parking space arrangement diagrams in different arrangement situations. Of course, the parking spaces in the embodiment of the invention can also be arranged in an inclined manner.
In the embodiment of the present invention, the method for adding the OSD may specifically be that, for each parking space in each parking space, a parking space identifier set for the parking space by the user in the OSD configuration interface is received, and based on the movement operation of the user on the set parking space identifier, the set parking space identifier is added to the preset position of the parking space in the parking area to be detected, so as to establish a corresponding relationship between the parking space identifier and the parking space, the parking space identifier is set according to the size of each parking space, and the parking space identifiers of different parking spaces are different. Wherein, add the parking stall sign that sets up to waiting to detect the preset position of this parking stall in the parking area, can cover the parking stall sign that sets up on waiting to detect the preset position of this parking stall in the parking area, perhaps, the parking stall sign replacement that will set up waits to detect the preset position of this parking stall in the parking area, and the preset position is the same by the shared region of replaced region and parking stall sign.
Taking fig. 3a as an example for explanation, it can be seen that the arrangement situations of the parking spaces shot by the monitoring camera are transversely arranged, and after the parking area to be detected is set, lines can be drawn for each parking space in the configuration interface of the monitoring camera according to the boundary lines of the 5 parking spaces, so as to obtain the 5 parking spaces included in the parking area to be detected. And then, setting a parking space identifier '1' in an OSD configuration interface, storing the '1' and then adding the stored '1' to a preset position of a first parking space on the left side, wherein the preset position can be the central position of the parking space. The following 4 parking spaces are set in the same manner, and of course, the preset positions of different parking spaces are determined with respect to the position of the parking space, for example, if the preset position of the first parking space is the center position of the first parking space, the preset positions of the other four parking spaces are also the center positions of the corresponding parking spaces, respectively. Therefore, 5 parking spaces with parking space marks of '1', '2', '3', '4' and '5' can be obtained, the parking space marks and the parking spaces can be arranged in sequence, can also be arranged in reverse sequence, and can also be arranged in other modes, but the parking space marks and the parking spaces are in one-to-one correspondence. For the parking spaces with the arrangement mode of longitudinal arrangement or inclined arrangement, the method is similar, and the detailed description is omitted.
It should be noted that the parking space identifier in the embodiment of the present invention is used for identifying a parking space, and is set in the picture to be detected. The embodiment of the invention can determine the position coordinates of the parking spaces through the parking space identifiers, and certainly, under the condition that the parking space identifiers are not arranged, the embodiment of the invention can also accurately obtain the position coordinates of the parking spaces without the parking space identifiers, and the parking space identifiers are used for establishing the corresponding relation with the parking spaces and are not used for detecting whether the parking spaces are occupied or not. And supplementary discernment sign among the prior art sets up in parking area's parking stall for whether detect the parking stall and occupy, if supplementary discernment sign is sheltered from, will influence the detection that the parking stall occupies the condition. Therefore, the parking space identifier in the embodiment of the invention is different from the auxiliary identification identifier in the prior art in nature.
In the embodiment of the invention, the parking space mark can be arranged at the center position of the parking space, so that the obtained parking space position coordinate can more accurately represent the position of the parking space. Moreover, if the vehicle position coordinates in S201 are also set at the center position of the vehicle, the vehicle position coordinates can more accurately represent the position of the vehicle, and the parking space position coordinates closest to the vehicle position coordinates obtained by the distance calculation formula are also more accurate. Of course, the parking space position coordinates are not limited to be represented by the center position of the parking space, and the parking space position coordinates of the parking space may also be represented by the parking space boundary points. Similarly, when the parking space position coordinates are matched and searched, the comparison object can be flexibly selected according to the actual situation, and the method is not limited to judging the occupation situation of a certain parking space by comparing the central position coordinates of the parking space with the central position coordinates of the vehicle.
And S203, aiming at each vehicle position coordinate in all the vehicle position coordinates, determining the parking space corresponding to the parking space position coordinate closest to the vehicle position coordinate as the occupied parking space.
In the embodiment of the invention, vehicles in the parking area to be detected usually stop in the parking space, and if the distance between the position coordinate of the vehicle and the position coordinate of the parking space is the closest, the parking space can be determined to be occupied by the vehicle, namely the parking space is the occupied parking space. If the number of the vehicles in the parking area to be detected is M, the number of the parking space position coordinates closest to the vehicle position coordinates is M, namely the number of the occupied parking spaces is M.
S204, if the number of occupied parking spaces in the parking area to be detected is smaller than the preset number of parking spaces in the parking area to be detected, determining other parking spaces except the occupied parking spaces as unoccupied parking spaces; and if the number of occupied parking spaces in the parking area to be detected is equal to the number of preset parking spaces in the parking area to be detected, determining that all the parking spaces in the parking area to be detected are occupied.
Specifically, as the parking spaces in the parking area to be detected are preset, that is, once the monitoring camera is set, the arrangement condition of the parking spaces in the parking area to be detected and the number of the parking spaces are determined, that is, the number of the preset parking spaces in the parking area to be detected is the number of the parking spaces in the parking area to be monitored, and the arrangement condition of the parking spaces in the parking area to be detected is the same as the arrangement condition of the parking spaces in the parking area to be monitored. Therefore, after the occupied parking spaces are obtained through S203, if the number of the occupied parking spaces in the parking area to be detected is smaller than the preset number of the parking spaces, other parking spaces except the occupied parking spaces are determined as unoccupied parking spaces; and if the number of occupied parking spaces in the parking area to be detected is equal to the number of preset parking spaces in the parking area to be detected, determining that all the parking spaces in the parking area to be detected are occupied. After the parking space occupation condition of each parking space in the parking area to be detected is obtained, the parking space information of each parking space can be stored in the database, for example, the parking space information of each parking space can be covered with the parking space information of each parking space stored in the database at the historical moment. Wherein, parking stall information includes: the name of the parking space or the parking space identification, whether the parking space is occupied, and the like.
S205, if the parking space with the changed parking space occupation condition exists in the parking area to be detected, the parking space information of the parking space with the changed parking space occupation condition is obtained.
In the embodiment of the invention, the parking space monitoring video is monitored in real time, so that the parking space occupation conditions obtained at different moments can be different. The parking space management system can set a monitoring period, and every monitoring period, the picture to be detected can be extracted from the parking space monitoring video to obtain the parking space occupation condition at the current moment. The historical detection picture may be a picture extracted from the parking space monitoring video at a historical time (a time before one monitoring period at the current time), and similar to the picture to be detected in S201, the historical detection picture may be a plurality of continuous video frame pictures. Of course, the history detection picture is also extracted in real time at the history moment. If the parking space occupation condition obtained at the current moment is compared with the parking space occupation condition at the historical moment, namely the parking space information of each parking space obtained at the current moment is compared with the parking space information of each parking space stored in the database, a parking space with a changed parking space occupation condition exists, and the parking space information of the parking space with the changed parking space occupation condition in the parking space information of each parking space can be obtained.
And S206, sending the changed parking space information to a parking space management system.
Specifically, after the changed parking space information is obtained, the changed parking space information can be sent to the parking space management system, and certainly, the unchanged parking space information does not need to be sent to the parking space management system, so that the pressure of the parking space management system on data processing is reduced. Therefore, the parking space management system can uniformly manage the parking spaces in the parking area to be detected.
In the embodiment of fig. 2, S201 to S206 are cases where there is a vehicle in the parking area to be detected, and when there is no vehicle in the parking area to be detected, it is obvious that all parking spaces in the parking area to be detected are determined to be unoccupied.
According to the parking space detection method provided by the embodiment of the invention, after the fact that the vehicles exist in the parking area to be detected in the acquired picture to be detected is detected, the vehicle position coordinates of all detected vehicles in the image coordinate system where the picture to be detected is located are determined; aiming at each vehicle position coordinate in all vehicle position coordinates, obtaining a parking space position coordinate closest to the vehicle position coordinate according to the parking space position coordinate of each parking space in the image coordinate system in the parking area to be detected and the vehicle position coordinate; determining the parking space corresponding to the parking space position coordinate closest to the vehicle position coordinate as an occupied parking space; if the number of occupied parking spaces in the parking area to be detected is smaller than the preset number of parking spaces in the parking area to be detected, determining other parking spaces except the occupied parking spaces as unoccupied parking spaces; and if the number of occupied parking spaces in the parking area to be detected is equal to the number of preset parking spaces in the parking area to be detected, determining that all the parking spaces in the parking area to be detected are occupied. And if the vehicle does not exist in the parking area to be detected, determining that the parking spaces in the parking area to be detected are unoccupied. If the parking space with the changed parking space occupation condition exists in the parking area to be detected, the changed parking space information can be sent to the parking space management system. The embodiment of the invention detects the parking space occupation condition by a method of determining the parking space position coordinate closest to the vehicle position coordinate, does not need to preset auxiliary identification marks in the parking area, and can improve the accuracy of parking space detection because the auxiliary identification marks do not influence the parking space detection. In addition, the embodiment of the invention does not need to arrange a physical detection device in the parking area, thereby reducing the complexity of arrangement of the parking space detection system. In addition, the changed parking space information can be sent to a parking space management system, and the parking spaces in the parking area to be detected are uniformly managed through the parking space management system.
Corresponding to the above method embodiment, an embodiment of the present invention further provides a parking space detection device, referring to fig. 4, where fig. 4 is a structural diagram of the parking space detection device according to the embodiment of the present invention, and the structural diagram includes:
the vehicle position coordinate determination module 401 is configured to determine vehicle position coordinates of all detected vehicles in an image coordinate system where the to-be-detected picture is located after detecting that a vehicle exists in the to-be-detected parking area in the acquired to-be-detected picture;
a nearest parking space position coordinate determination module 402, configured to, for each vehicle position coordinate in all vehicle position coordinates, obtain a parking space position coordinate closest to the vehicle position coordinate according to the parking space position coordinate of each parking space in the image coordinate system in the parking area to be detected and the vehicle position coordinate;
and an occupied parking space determining module 403, configured to determine, for each vehicle position coordinate in all the vehicle position coordinates, a parking space corresponding to the obtained parking space position coordinate closest to the vehicle position coordinate as an occupied parking space.
According to the parking space detection device provided by the embodiment of the invention, after the fact that the vehicles exist in the parking area to be detected in the acquired picture to be detected is detected, the vehicle position coordinates of all detected vehicles in the image coordinate system where the picture to be detected is located are determined; aiming at each vehicle position coordinate in all vehicle position coordinates, obtaining a parking space position coordinate closest to the vehicle position coordinate according to the parking space position coordinate of each parking space in the image coordinate system in the parking area to be detected and the vehicle position coordinate; and determining the parking space corresponding to the parking space position coordinate closest to the vehicle position coordinate as the occupied parking space. According to the embodiment of the invention, the parking space occupation condition is detected by a method for comparing the position coordinates of the vehicle with the position coordinates of the parking spaces, namely a method for determining the position coordinates of the parking spaces closest to the position coordinates of the vehicle, an auxiliary identification mark is not required to be preset in a parking area, and the parking space detection accuracy can be improved because the auxiliary identification mark is not influenced. In addition, the embodiment of the invention does not need to arrange a physical detection device in the parking area, thereby reducing the complexity of arrangement of the parking space detection system.
It should be noted that the device of the embodiment of the present invention is a device applying the parking space detection method, and all embodiments of the parking space detection method are applicable to the device and can achieve the same or similar beneficial effects.
Referring to fig. 5, fig. 5 is another structural diagram of the parking space detection device according to the embodiment of the present invention, including:
the vehicle position coordinate determination module 501 is configured to determine vehicle position coordinates of all detected vehicles in an image coordinate system where the to-be-detected picture is located after detecting that a vehicle exists in the to-be-detected parking area in the acquired to-be-detected picture;
a nearest parking space position coordinate determination module 502, configured to, for each vehicle position coordinate in all vehicle position coordinates, obtain a parking space position coordinate closest to the vehicle position coordinate according to the parking space position coordinate of each parking space in the image coordinate system in the parking area to be detected and the vehicle position coordinate;
an occupied parking space determining module 503, configured to determine, for each vehicle position coordinate in all the vehicle position coordinates, a parking space corresponding to the obtained parking space position coordinate closest to the vehicle position coordinate as an occupied parking space;
the parking space occupation situation determination module 504 is configured to determine, if the number of occupied parking spaces in the parking area to be detected is smaller than the preset number of parking spaces in the parking area to be detected, other parking spaces except the occupied parking spaces as unoccupied parking spaces; if the number of occupied parking spaces in the parking area to be detected is equal to the number of preset parking spaces in the parking area to be detected, determining that the parking spaces in the parking area to be detected are all occupied;
a changed parking space information obtaining module 505, configured to obtain parking space information of a parking space in which a parking space occupancy condition changes if a parking space in which the parking space occupancy condition changes exists in the parking area to be detected;
and a changed parking space information sending module 506, configured to send the changed parking space information to the parking space management system.
According to the parking space detection device provided by the embodiment of the invention, after the fact that the vehicles exist in the parking area to be detected in the acquired picture to be detected is detected, the vehicle position coordinates of all detected vehicles in the image coordinate system where the picture to be detected is located are determined; aiming at each vehicle position coordinate in all vehicle position coordinates, obtaining a parking space position coordinate closest to the vehicle position coordinate according to the parking space position coordinate of each parking space in the image coordinate system in the parking area to be detected and the vehicle position coordinate; determining the parking space corresponding to the parking space position coordinate closest to the vehicle position coordinate as an occupied parking space; if the number of occupied parking spaces in the parking area to be detected is smaller than the preset number of parking spaces in the parking area to be detected, determining other parking spaces except the occupied parking spaces as unoccupied parking spaces; and if the number of occupied parking spaces in the parking area to be detected is equal to the number of preset parking spaces in the parking area to be detected, determining that all the parking spaces in the parking area to be detected are occupied. If the parking space with the changed parking space occupation condition exists in the parking area to be detected, the changed parking space information can be sent to the parking space management system. According to the embodiment of the invention, the parking space occupation condition is detected by a method for comparing the position coordinates of the vehicle with the position coordinates of the parking spaces, namely a method for determining the position coordinates of the parking spaces closest to the position coordinates of the vehicle, an auxiliary identification mark is not required to be preset in a parking area, and the parking space detection accuracy can be improved because the auxiliary identification mark is not influenced. In addition, the embodiment of the invention does not need to arrange a physical detection device in the parking area, thereby reducing the complexity of arrangement of the parking space detection system. In addition, the changed parking space information can be sent to a parking space management system, and the parking spaces in the parking area to be detected are uniformly managed through the parking space management system.
In an implementation manner of the present invention, the vehicle position coordinate determination module is specifically configured to, for each detected vehicle of all vehicles, represent the vehicle by a rectangular frame, and obtain a vertex position coordinate of any vertex of the rectangular frame in an image coordinate system where the to-be-detected picture is located, a width of the rectangular frame, and a height of the rectangular frame; and calculating the center position coordinate of the rectangular frame according to the vertex position coordinate, the width and the height, and taking the center position coordinate as the vehicle position coordinate of the vehicle.
In one implementation manner of the present invention, the parking space detection device further includes:
the OSD sets up the module for to every parking stall in each parking stall, receive the parking stall sign that the user set up for this parking stall in screen menu formula adjustment mode OSD configuration interface, and based on the removal operation of user to the parking stall sign that sets up, add the parking stall sign that sets up to waiting to detect the preset position of this parking stall in the parking area, establish the corresponding relation of parking stall sign and this parking stall, the parking stall sign sets up according to the size of every parking stall, the parking stall sign of different parking stalls is different.
In an implementation manner of the present invention, the OSD setting module is specifically configured to cover the set parking space identifier at a preset position of the parking space in the parking area to be detected, or replace the preset position of the parking space in the parking area to be detected with the set parking space identifier, where the replaced area of the preset position is the same as the area occupied by the parking space identifier.
In one implementation manner of the present invention, the parking space detection device further includes:
and the parking space position coordinate determination module is used for acquiring the position coordinates of the parking space identification of each parking space in the image coordinate system and respectively and correspondingly serving as the parking space position coordinates of each parking space.
In one implementation manner of the present invention, the parking space detection device further includes:
and the parking space all-unoccupied determining module is used for determining that the parking spaces in the parking area to be detected are all unoccupied if no vehicle exists in the parking area to be detected in the picture to be detected.
In an implementation manner of the present invention, the picture to be detected is a plurality of continuous video frame pictures acquired periodically.
In an implementation manner of the invention, the arrangement condition and the number of the parking spaces in the parking area to be detected are respectively the same as the arrangement condition and the number of the parking spaces in the parking area to be monitored.
An embodiment of the present invention further provides a monitoring terminal, referring to fig. 6, where fig. 6 is a structural diagram of the monitoring terminal according to the embodiment of the present invention, including: a processor 601 and a machine-readable storage medium 602, where the machine-readable storage medium 602 stores machine-executable instructions capable of being executed by the processor 601, and when the processor 601 executes the machine-executable instructions, the steps of any one of the parking space detection methods in the embodiments of fig. 1 and fig. 2 are implemented.
Optionally, the monitoring terminal in the embodiment of the present invention is specifically configured to, for each detected vehicle of all vehicles, represent the vehicle through a rectangular frame, and obtain a vertex position coordinate of any vertex of the rectangular frame in an image coordinate system where the to-be-detected picture is located, a width of the rectangular frame, and a height of the rectangular frame; and calculating the center position coordinate of the rectangular frame according to the vertex position coordinate, the width and the height, and taking the center position coordinate as the vehicle position coordinate of the vehicle.
Optionally, the monitoring terminal in the embodiment of the present invention is further configured to receive, for each parking space in each parking space, a parking space identifier that is set for the parking space by a user, and establish a corresponding relationship between the parking space identifier and the parking space, where the parking space identifier is set according to the size of each parking space and is located at a preset position of the parking space in a parking area to be detected, and the parking space identifiers of different parking spaces are different.
The monitoring terminal of the embodiment of the present invention may receive the parking space identifier set by the user for each parking space, and establish the corresponding relationship between the parking space identifier and the parking space, and the setting method of the parking space identifier may be an OSD configuration method or a picture processing method, which is not limited herein. Of course, in the embodiment of the present invention, a parking space identifier may also be set for each parking space by using the monitoring camera, so that the parking space acquired by the monitoring terminal is the parking space to which the parking space identifier has been added.
Optionally, the monitoring terminal of the embodiment of the present invention is specifically configured to cover the set parking space identifier at the preset position of the parking space in the parking area to be detected, or replace the preset position of the parking space in the parking area to be detected with the set parking space identifier, where the replaced area of the preset position is the same as the area occupied by the parking space identifier.
Optionally, the monitoring terminal of the embodiment of the present invention is further configured to obtain position coordinates of the parking space identifier of each parking space in the image coordinate system, and the position coordinates are respectively used as the parking space position coordinates of each parking space.
Optionally, the monitoring terminal of the embodiment of the present invention is further configured to determine that all parking spaces in the parking area to be detected are unoccupied if no vehicle exists in the parking area to be detected in the picture to be detected.
Optionally, the picture to be detected in the monitoring terminal of the embodiment of the present invention is a plurality of continuous video frame pictures that are periodically acquired.
Optionally, in the monitoring terminal according to the embodiment of the present invention, the arrangement condition and the number of the parking spaces in the parking area to be detected are respectively the same as the arrangement condition and the number of the parking spaces in the parking area to be monitored.
The processor 601 may be a general-purpose processor, including: a CPU (Central Processing Unit), an NP (Network Processor), and the like; but also a DSP (Digital Signal Processing), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
The machine-readable storage medium 602 may include a RAM (Random Access Memory) and a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Alternatively, the machine-readable storage medium 602 may also be at least one storage device located remotely from the processor 601.
In the monitoring terminal of the embodiment of the invention, when the processor executes the program stored on the machine-readable storage medium, after detecting that vehicles exist in the parking area to be detected in the acquired picture to be detected, the vehicle position coordinates of all detected vehicles in the image coordinate system where the picture to be detected is located are determined; aiming at each vehicle position coordinate in all vehicle position coordinates, obtaining a parking space position coordinate closest to the vehicle position coordinate according to the parking space position coordinate of each parking space in the image coordinate system in the parking area to be detected and the vehicle position coordinate; and determining the parking space corresponding to the parking space position coordinate closest to the vehicle position coordinate as the occupied parking space. According to the embodiment of the invention, the parking space occupation condition is detected by a method for comparing the position coordinates of the vehicle with the position coordinates of the parking spaces, namely a method for determining the position coordinates of the parking spaces closest to the position coordinates of the vehicle, an auxiliary identification mark is not required to be preset in a parking area, and the parking space detection accuracy can be improved because the auxiliary identification mark is not influenced. In addition, the embodiment of the invention does not need to arrange a physical detection device in the parking area, thereby reducing the complexity of arrangement of the parking space detection system.
An embodiment of the present invention provides a monitoring camera, referring to fig. 7, where fig. 7 is a structural diagram of the monitoring camera according to the embodiment of the present invention, including:
the image sensor 701 is used for acquiring image data and transmitting the acquired image data to the digital signal processor;
a digital signal processor 702, configured to process the received image data to obtain a to-be-detected picture;
a memory 703 for storing machine executable instructions executable by the embedded microprocessor;
the embedded microprocessor 704 is configured to implement the steps of any of the parking space detection methods in the embodiments of fig. 1 and 2 when executing the machine executable instruction on the picture to be detected.
In the monitoring camera, the image sensor transmits acquired image data to the digital signal processor, the digital signal processor processes the image data to obtain a picture to be detected, and when the embedded microprocessor executes a machine executable instruction stored in a memory on the picture to be detected, and after vehicles are detected to exist in a parking area to be detected in the picture to be detected, vehicle position coordinates of all detected vehicles in an image coordinate system where the picture to be detected is located are determined; aiming at each vehicle position coordinate in all vehicle position coordinates, obtaining a parking space position coordinate closest to the vehicle position coordinate according to the parking space position coordinate of each parking space in the image coordinate system in the parking area to be detected and the vehicle position coordinate; and determining the parking space corresponding to the parking space position coordinate closest to the vehicle position coordinate as the occupied parking space. According to the embodiment of the invention, the parking space occupation condition is detected by a method for comparing the position coordinates of the vehicle with the position coordinates of the parking spaces, namely a method for determining the position coordinates of the parking spaces closest to the position coordinates of the vehicle, an auxiliary identification mark is not required to be preset in a parking area, and the parking space detection accuracy can be improved because the auxiliary identification mark is not influenced. In addition, the embodiment of the invention does not need to arrange a physical detection device in the parking area, thereby reducing the complexity of arrangement of the parking space detection system.
Optionally, the monitoring camera in the embodiment of the present invention is specifically configured to, for each detected vehicle of all vehicles, represent the vehicle by a rectangular frame, and acquire a vertex position coordinate of any vertex of the rectangular frame in an image coordinate system where the to-be-detected picture is located, a width of the rectangular frame, and a height of the rectangular frame; and calculating the center position coordinate of the rectangular frame according to the vertex position coordinate, the width and the height, and taking the center position coordinate as the vehicle position coordinate of the vehicle.
Optionally, the monitoring camera of the embodiment of the present invention is further configured to receive, for each of the parking spaces, a parking space identifier that is set by the user for the parking space in the OSD configuration interface, add the set parking space identifier to a preset position of the parking space in the parking area to be detected based on a movement operation of the user on the set parking space identifier, and establish a corresponding relationship between the parking space identifier and the parking space, where the parking space identifier is set according to a size of each parking space, and the parking space identifiers of different parking spaces are different.
Optionally, the monitoring camera of the embodiment of the present invention is specifically configured to cover the set parking space identifier at a preset position of the parking space in the parking area to be detected, or replace the preset position of the parking space in the parking area to be detected with the set parking space identifier, where the replaced area of the preset position is the same as the area occupied by the parking space identifier.
Optionally, the monitoring camera of the embodiment of the present invention is further configured to acquire position coordinates of the parking space identifier of each parking space in the image coordinate system, and the position coordinates are respectively used as the parking space position coordinates of each parking space.
Optionally, the monitoring camera of the embodiment of the present invention is further configured to determine that all parking spaces in the parking area to be detected are unoccupied if no vehicle exists in the parking area to be detected in the picture to be detected.
Optionally, the pictures to be detected in the monitoring camera in the embodiment of the present invention are a plurality of continuous video frame pictures that are periodically acquired.
Optionally, in the monitoring camera of the embodiment of the present invention, the arrangement condition and the number of the parking spaces in the parking area to be detected are respectively the same as the arrangement condition and the number of the parking spaces in the parking area to be monitored.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and when the computer program is executed by a processor, the steps of any parking space detection method are realized.
When an instruction stored in a computer-readable storage medium of the embodiment of the invention runs on a computer, after detecting that vehicles exist in a parking area to be detected in an acquired picture to be detected, determining vehicle position coordinates of all detected vehicles in an image coordinate system where the picture to be detected is located; aiming at each vehicle position coordinate in all vehicle position coordinates, obtaining a parking space position coordinate closest to the vehicle position coordinate according to the parking space position coordinate of each parking space in the image coordinate system in the parking area to be detected and the vehicle position coordinate; and determining the parking space corresponding to the parking space position coordinate closest to the vehicle position coordinate as the occupied parking space. According to the embodiment of the invention, the parking space occupation condition is detected by a method for comparing the position coordinates of the vehicle with the position coordinates of the parking spaces, namely a method for determining the position coordinates of the parking spaces closest to the position coordinates of the vehicle, an auxiliary identification mark is not required to be preset in a parking area, and the parking space detection accuracy can be improved because the auxiliary identification mark is not influenced. In addition, the embodiment of the invention does not need to arrange a physical detection device in the parking area, thereby reducing the complexity of arrangement of the parking space detection system.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the embodiments of the parking space detection device, the monitoring camera, the monitoring terminal and the readable storage medium, since they are basically similar to the embodiments of the method, the description is relatively simple, and the relevant points can be referred to the partial description of the embodiments of the method.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (11)
1. A parking space detection method is characterized by comprising the following steps:
after detecting that vehicles exist in the parking area to be detected in the acquired picture to be detected, determining vehicle position coordinates of all detected vehicles in an image coordinate system where the picture to be detected is located;
aiming at each parking space in the parking area to be detected:
receiving a parking space identifier set by a user; the parking space identification OSD is superposed on a preset position of the parking space;
acquiring the position coordinates of the parking space identification in the image coordinate system, and determining the parking space position coordinates of each parking space;
aiming at each vehicle position coordinate in all vehicle position coordinates, obtaining a parking space position coordinate closest to the vehicle position coordinate according to the parking space position coordinate of each parking space in the image coordinate system in the parking area to be detected and the vehicle position coordinate;
aiming at each vehicle position coordinate in all the vehicle position coordinates, determining the parking space corresponding to the parking space position coordinate closest to the vehicle position coordinate as an occupied parking space;
the parking place identification set by the user is received; will the parking stall sign OSD stack extremely on the preset position of parking stall, include:
receiving a parking space identifier set for each parking space in an OSD (on screen display) configuration interface of a screen menu type adjustment mode by a user aiming at each parking space, adding the set parking space identifier to a preset position of the parking space in the parking area to be detected, and establishing a corresponding relation between the parking space identifier and the parking space;
the acquiring the position coordinates of the parking space identifiers in the image coordinate system and determining the parking space position coordinates of each parking space comprise:
and acquiring the position coordinates of the parking space marks of the parking spaces in the image coordinate system, and respectively and correspondingly taking the position coordinates as the parking space position coordinates of the parking spaces.
2. The parking space detection method according to claim 1, wherein after determining, for each of the all vehicle position coordinates, a parking space corresponding to a parking space position coordinate closest to the vehicle position coordinate as an occupied parking space, the method further comprises:
if the number of occupied parking spaces in the parking area to be detected is smaller than the preset number of parking spaces in the parking area to be detected, determining other parking spaces except the occupied parking spaces as unoccupied parking spaces; and if the number of occupied parking spaces in the parking area to be detected is equal to the number of preset parking spaces in the parking area to be detected, determining that all the parking spaces in the parking area to be detected are occupied.
3. The parking space detection method according to claim 1 or 2, wherein after determining, for each of the all vehicle position coordinates, a parking space corresponding to a parking space position coordinate closest to the vehicle position coordinate as an occupied parking space, the method further comprises:
if a parking space with a changed parking space occupation condition exists in the parking area to be detected, acquiring parking space information of the parking space with the changed parking space occupation condition;
and sending the changed parking space information to a parking space management system.
4. The parking space detection method according to claim 1 or 2, wherein the determining vehicle position coordinates of all detected vehicles in the image coordinate system where the picture to be detected is located comprises:
aiming at each detected vehicle in all vehicles, representing the vehicle through a rectangular frame, and acquiring the vertex position coordinate of any vertex of the rectangular frame in an image coordinate system where the picture to be detected is located, the width of the rectangular frame and the height of the rectangular frame;
and calculating the center position coordinate of the rectangular frame according to the vertex position coordinate, the width and the height, and taking the center position coordinate as the vehicle position coordinate of the vehicle.
5. The parking space detection method according to claim 1 or 2, wherein the step of adding the set parking space identifier to the preset position of the parking space in the parking area to be detected comprises the steps of:
based on the user to the removal operation of the parking stall sign that sets up, add the parking stall sign that sets up extremely wait to detect the preset position of this parking stall in the parking area, the parking stall sign sets up according to the size of every parking stall, and the parking stall sign of different parking stalls is different.
6. The parking space detection method according to claim 5, wherein the step of adding the set parking space identifier to the preset position of the parking space in the parking area to be detected comprises the steps of:
covering the set parking space mark on the preset position of the parking space in the parking area to be detected, or,
and replacing the preset position of the parking space in the parking area to be detected with the set parking space identifier, wherein the replaced area of the preset position is the same as the occupied area of the parking space identifier.
7. The parking space detection method according to claim 1 or 2, characterized in that the method further comprises:
and if no vehicle exists in the parking area to be detected in the picture to be detected, determining that the parking spaces in the parking area to be detected are unoccupied.
8. The parking space detection method according to claim 1 or 2, wherein the pictures to be detected are a plurality of continuous video frame pictures which are acquired periodically.
9. The parking space detection method according to claim 1 or 2, wherein the arrangement condition and the number of the parking spaces in the parking area to be detected are respectively the same as the arrangement condition and the number of the parking spaces in the parking area to be monitored.
10. A surveillance camera, comprising:
the image sensor is used for acquiring image data and transmitting the acquired image data to the digital signal processor;
the digital signal processor is used for processing the received image data to obtain a picture to be detected;
a memory for storing machine executable instructions executable by the embedded microprocessor;
the embedded microprocessor is configured to implement the steps of the parking space detection method according to any one of claims 1 to 9 when the machine-executable instructions are executed on the picture to be detected.
11. A monitor terminal, comprising: a processor and a machine-readable storage medium storing machine-executable instructions executable by the processor, the processor implementing the steps of the parking space detection method according to any one of claims 1 to 9 when executing the machine-executable instructions.
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| CN107025800A (en) * | 2017-04-27 | 2017-08-08 | 上海斐讯数据通信技术有限公司 | A kind of parking monitoring method and system based on shared bicycle |
| CN107067813A (en) * | 2017-06-14 | 2017-08-18 | 大连海事大学 | A kind of parking stall bootstrap technique and system based on image procossing and pattern-recognition |
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