CN114783172A - Method and system for identifying empty parking space of parking lot and computer readable storage medium - Google Patents
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Abstract
The invention discloses a method and a system for identifying an empty parking space in a parking lot and a computer readable storage medium, wherein the method comprises the following steps: acquiring a depth image obtained by detecting the single-side direction of a vehicle by a vehicle-mounted depth camera in the driving process of the vehicle; performing point cloud conversion on the depth image to obtain a first point cloud; filtering the first point cloud according to a preset filtering rule to obtain a second point cloud; down-sampling the second point cloud to obtain a third point cloud; identifying whether an empty parking space exists in the third cloud according to the third cloud and a preset parking space three-dimensional space parameter; and if the empty parking spaces exist, generating a parking space frame of the empty parking spaces. The invention can overcome the technical defects of the existing three parking space identification methods based on ultrasonic radar, geomagnetic sensors and panoramic images.
Description
Technical Field
The invention relates to the technical field of automatic parking, in particular to a method and a system for identifying an empty parking space in a parking lot and a computer readable storage medium.
Background
The empty parking space positioning is the basis in the automatic parking technology; the existing parking space identification method can be mainly divided into three parking space identification methods based on an ultrasonic radar, a geomagnetic sensor and a panoramic image; the parking space identification method based on the ultrasonic radar is used for identifying the parking space by sensing the surrounding environment (vehicles, obstacles and the like) by using the ultrasonic radar, but the information points of the ultrasonic radar are few, the parking space cannot be accurately identified, and only a drivable or barrier-free area can be roughly inferred; the parking space identification method based on the geomagnetic sensor needs to realize the integral transformation of a parking area in advance, and is inconvenient to apply; the parking space identification method based on the all-around image is characterized in that the all-around camera is used for collecting real-time images, parking spaces in the collected images are extracted, sensing results of the surrounding environment are combined to determine target empty parking spaces, the target empty parking spaces are identified depending on parking space lines, and if the parking space lines of the parking spaces are not obvious or incomplete, the identification effect is poor.
In summary, it is necessary to provide a new parking space identification method to overcome the above technical defects of the existing three parking space identification methods based on ultrasonic radar, geomagnetic sensor and looking around image.
Disclosure of Invention
The invention aims to provide a method and a system for identifying an empty parking space in a parking lot and a computer readable storage medium, so as to overcome the technical defects of the existing three parking space identification methods based on an ultrasonic radar, a geomagnetic sensor and a panoramic image.
In order to achieve the above object, a first aspect of the present invention provides a method for identifying an empty parking space in a parking lot, including:
acquiring a depth image obtained by detecting the single-side direction of a vehicle by a vehicle-mounted depth camera in the driving process of the vehicle;
performing point cloud conversion on the depth image to obtain a first point cloud;
filtering the first point cloud according to a preset filtering rule to obtain a second point cloud;
down-sampling the second point cloud to obtain a third point cloud;
identifying whether an empty parking space exists in the third point cloud according to the third point cloud and a preset parking space three-dimensional space parameter; and if the empty parking spaces exist, generating a parking space frame of the empty parking spaces.
Optionally, the filtering the first point cloud according to a preset filtering rule to obtain a second point cloud includes:
filtering for the first time to filter out points with depth values equal to preset depth values in the first point cloud;
and performing secondary filtering to filter out outliers in the first point cloud.
Optionally, the down-sampling the second point cloud to obtain a third point cloud includes:
and dividing the second point cloud into a plurality of cubes, and reserving 1 point in each cube so as to obtain a third point cloud.
Optionally, the recognizing whether there is an empty parking space in the depth image according to the third point cloud and a preset parking space three-dimensional space parameter includes:
traversing all points in the point cloud space of the third point cloud, taking each point as the upper left corner point of the parking space frame, generating a simulated parking space frame corresponding to each point according to the upper left corner point of the parking space frame and the preset parking space three-dimensional space parameters, and judging whether at least one point of the third point cloud exists in the simulated parking space frame; if so, the simulation parking space frame is an invalid simulation parking space frame; if not, the simulated parking space frame is an effective simulated parking space frame;
and counting points corresponding to all the effective simulation parking stall frames, and generating the parking stall frame of the empty parking stall according to the points corresponding to all the effective simulation parking stall frames.
Optionally, the method further comprises:
and respectively generating first display information, second display information, third display information and fourth display information according to the first point cloud, the second point cloud, the third point cloud and the parking space frame, and sending the first display information, the second display information, the third display information and the fourth display information to a vehicle-mounted display unit for synchronous display.
The second aspect of the present invention provides a system for identifying an empty parking space in a parking lot, including:
the image acquisition unit is used for acquiring a depth image obtained by detecting the unilateral direction of a vehicle by a vehicle-mounted depth camera in the driving process of the vehicle;
the point cloud conversion unit is used for carrying out point cloud conversion on the depth image to obtain a first point cloud;
the point cloud filtering unit is used for filtering the first point cloud according to a preset filtering rule to obtain a second point cloud;
the point cloud sampling unit is used for carrying out down-sampling on the second point cloud to obtain a third point cloud; and
the empty parking space identification unit is used for identifying whether an empty parking space exists in the third point cloud according to the third point cloud and preset parking space three-dimensional space parameters; and if the empty parking spaces exist, generating the parking space frames of the empty parking spaces.
Optionally, the point cloud filtering unit comprises:
the first filtering unit is used for filtering for the first time so as to filter out points with depth values equal to preset depth values in the first point cloud;
and the second filtering unit is used for carrying out secondary filtering so as to filter out outliers in the first point cloud.
Optionally, the point cloud sampling unit, in particular for
And dividing the second point cloud into a plurality of cubes, and reserving 1 point in each cube so as to obtain a third point cloud.
Optionally, the empty space recognition unit specifically includes:
the simulation unit is used for traversing all points in the point cloud space of the third point cloud, taking each point as the upper left angular point of the parking space frame, generating a simulated parking space frame corresponding to each point according to the upper left angular point of the parking space frame and the preset parking space three-dimensional space parameters, and judging whether at least one point of the third point cloud exists in the simulated parking space frame; if so, the simulation parking space frame is an invalid simulation parking space frame; if not, the simulated parking space frame is an effective simulated parking space frame;
and the counting unit is used for counting the points corresponding to all the effective simulation parking stall frames and generating the parking stall frame of the empty parking stall according to the points corresponding to all the effective simulation parking stall frames.
A third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method for identifying an empty space in a parking lot according to the first aspect.
In summary, the embodiments of the present invention provide a method and a system for identifying an empty parking space in a parking lot, and a computer readable storage medium, which have at least the following advantages:
(1) compared with the traditional parking space identification method based on the ultrasonic radar, the embodiment of the invention has more information points in the two-dimensional space of the parking space plane and a large number of information points in the vertical direction, thereby greatly improving the accuracy of empty parking space identification;
(2) compared with the traditional parking space identification method based on the geomagnetic sensor, the parking space identification method is convenient to apply and does not need to realize integral transformation of a parking area in advance;
(3) compared with the traditional visual-based parking space identification method, the embodiment of the invention does not depend on the parking space line for detecting the empty parking space, thereby improving the robustness of the detection of the empty parking space in the automatic parking process.
Additional features and advantages of the invention will be set forth in the description which follows.
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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 method for identifying an empty space in a parking lot according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a system for identifying empty parking spaces in a parking lot according to an embodiment of the present invention.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In addition, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present invention. It will be understood by those skilled in the art that the present invention may be practiced without some of these specific details. In some instances, well known means have not been described in detail so as not to obscure the present invention.
Referring to fig. 1, an embodiment of the present invention provides a method for identifying an empty parking space in a parking lot, including the following steps S1-S5:
s1, acquiring a depth image obtained by detecting the one-side direction of the vehicle by the vehicle-mounted depth camera in the driving process of the vehicle;
specifically, in the implementation process of the embodiment, a driver drives a vehicle to run, and a vehicle-mounted depth camera arranged on one side of the vehicle detects a depth image in the direction of one side of the vehicle;
step S2, performing point cloud conversion on the depth image to obtain a first point cloud;
specifically, the pixels of the depth camera are, for example, 320 × 240, the depth image is subjected to three-dimensional coordinate conversion according to the internal reference of the depth camera, the number of points in a first point cloud obtained after conversion is 76800, all the points are represented by three-dimensional space coordinates (X, Y, Z), the origin of a converted reference coordinate is the optical center of the depth camera, and a reference coordinate system is established according to the right-hand rule;
step S3, filtering the first point cloud according to a preset filtering rule to obtain a second point cloud;
specifically, the first point cloud obtained in step S2 is an original point cloud, which may further include some invalid points or outliers, and needs to be filtered to obtain a second point cloud;
exemplarily, the step S3 includes:
step S31, performing primary filtering to filter out points with depth values equal to preset depth values in the first point cloud;
specifically, the primary filtering is conditional filtering, for example, the effective detection range of the depth camera used is 6.0 meters at most, the depth value is considered to be the maximum depth for the points beyond the detection range, and the depth value corresponds to Z in the three-dimensional space coordinates (X, Y, Z), so the points where Z is equal to the maximum depth are considered to be invalid points, and they need to be filtered out through the conditional filtering, in this embodiment, the conditional filtering sets the points where Z is greater than 0 and less than 5.9 as valid points;
step S32, secondary filtering is carried out to filter out outliers in the first point cloud;
specifically, the secondary filtering is statistical filtering, that is, outliers are identified by counting the number of respective neighboring points of all points in the point cloud, and the outliers are taken as noise points to be removed;
preferably, in the statistical filtering in this embodiment, the number of neighboring points of the query point is considered to be 50 during statistics, and the threshold for determining whether the neighboring points are outliers is 0.3;
step S4, down-sampling the second point cloud to obtain a third point cloud;
exemplarily, the step S4 includes:
dividing the second point cloud into a plurality of cubes, and reserving 1 point in each cube, thereby obtaining a third point cloud;
specifically, in this example, the point cloud is down-sampled by using a voxel grid, that is, the point cloud is divided into a plurality of small cubes, 1 point is reserved in each cube to reduce the number of points and reduce the operation complexity of post-processing on the premise of not destroying the distribution characteristics of the point cloud, and the voxel block in this example is set to be a cube of 0.01 × 0.01 × 0.01 m;
step S5, identifying whether an empty parking space exists in the third point cloud according to the third point cloud and a preset parking space three-dimensional space parameter; and if the empty parking spaces exist, generating a parking space frame of the empty parking spaces.
Exemplarily, the step S5 includes:
step S51, traversing all points in the point cloud space of the third point cloud, taking each point as the upper left corner point of a parking space frame, namely the origin of an empty parking space, generating a simulated parking space frame corresponding to each point according to the upper left corner point of the parking space frame and the preset parking space three-dimensional space parameters, and judging whether at least one point of the third point cloud exists in the simulated parking space frame; if so, the simulation parking space frame is an invalid simulation parking space frame; if not, the simulated parking space frame is an effective simulated parking space frame;
step S52, counting points corresponding to all effective simulation parking stall frames, and generating a parking stall frame of an empty parking stall according to the points corresponding to all the effective simulation parking stall frames;
specifically, in the example, whether the parking space requirement is met is calculated based on the point cloud after down sampling; setting three-dimensional space parameters of the parking space, for example, the length, the width and the height are respectively 5.0 × 1.8 × 1.6 meters, taking the upper left corner point of the parking space frame as a parking space origin point, firstly assuming that the parking space origin point is located at a certain place, then generating a corresponding simulation parking space frame according to the length, the width and the height of the parking space, traversing all point clouds in the simulation parking space frame, and considering that the simulation parking space frame is not supposed to be true as long as at least one effective point exists in the simulation parking space frame; traversing all points in the point cloud space of the third point cloud by changing the original point position of the parking space, exhausting the point cloud space, and finding out all parking space frames meeting the conditions, namely empty parking spaces;
for example, assuming that the initial coordinates (X, Y, Z) of the parking space origin are (-1.9, -0.8,0.5), the Y coordinate of the parking space origin is fixed at-0.8, the Z coordinate is fixed at 0.5, and the X coordinate increases from left to right by a step width of 0.1, the translation iteration calculation is performed, and the boundary condition is that the inverse of the initial value of the X coordinate — the parking space width, i.e., 1.9-1.8 ═ 0.1, i.e., the X coordinate of the parking space origin is translated from-1.9 to 0.1, and the step length is 0.1. Finally, all the empty parking place original points meeting the conditions are gathered into line segments which are used as the position distribution of the effective empty parking places and are recorded in the form of the line segments;
in a specific embodiment, the method further comprises:
and S6, respectively generating first display information, second display information, third display information and fourth display information according to the first point cloud, the second point cloud, the third point cloud and the parking space frame, and sending the first display information, the second display information, the third display information and the fourth display information to a vehicle-mounted display unit for synchronous display.
Specifically, point cloud visualization is proposed in the embodiment, a window is firstly created in the point cloud visualization, then four viewpoints are created in the window of the vehicle-mounted display unit, each viewpoint is displayed in a linkage manner, namely one viewpoint is dragged to change a rotation angle or enlarge and reduce, and the other three viewpoints are subjected to the same transformation along with the change, namely synchronous display; the four viewpoints are the first display information, the second display information, the third display information and the fourth display information respectively. The fourth display information including the parking space frame is generated again according to the last valid empty parking space line segment generated in the previous step, for example, if the X coordinate of the empty parking space line segment is from-1.9 to 0.1, the parking space frame becomes 5.0 × 2.0 × 1.6 meters.
In the method, a single depth camera is used for detecting the direction of one side of a vehicle in the driving process to obtain a single-frame depth map, the depth map is converted into point clouds, the point clouds are filtered, down-sampled and the like, then the point clouds are traversed to complete the hypothesis test of empty parking spaces and the exhaustion of the positions of the empty parking spaces, and the position set of the empty parking spaces is accurately identified within an effective distance; based on the above description, the embodiments of the present invention have the following advantages:
(1) compared with the traditional parking space identification method based on the ultrasonic radar, the embodiment of the invention has more information points in the two-dimensional space of the parking space plane and a large number of information points in the vertical direction, thereby greatly improving the accuracy of empty parking space identification;
(2) compared with the traditional parking space identification method based on the geomagnetic sensor, the parking space identification method is convenient to apply and does not need to realize integral transformation of a parking area in advance;
(3) compared with the traditional visual-based parking space identification method, the embodiment of the invention does not depend on the parking space line for detecting the empty parking space, thereby improving the robustness of the detection of the empty parking space in the automatic parking process.
(4) Compared with the traditional point cloud parking space identification method based on deep learning, the embodiment of the invention realizes parking space detection by using simple logic rules, saves the work of data acquisition and processing, and reduces the operation complexity, thereby reducing the computational requirements on hardware, facilitating parameter adjustment and migration aiming at different parking lot scenes, and having strong logic and being beneficial to function realization and problem troubleshooting and repair.
Referring to fig. 2, another embodiment of the present invention provides a system for identifying an empty parking space in a parking lot, including:
the system comprises an image acquisition unit 1, a depth image acquisition unit and a depth image acquisition unit, wherein the image acquisition unit is used for acquiring a depth image obtained by detecting the direction of one side of a vehicle by a vehicle-mounted depth camera in the driving process of the vehicle;
the point cloud conversion unit 2 is used for carrying out point cloud conversion on the depth image to obtain a first point cloud;
the point cloud filtering unit 3 is used for filtering the first point cloud according to a preset filtering rule to obtain a second point cloud;
the point cloud sampling unit 4 is used for carrying out down-sampling on the second point cloud to obtain a third point cloud; and
the empty parking space identification unit 5 is used for identifying whether an empty parking space exists in the third point cloud according to the third point cloud and preset parking space three-dimensional space parameters; and if the empty parking spaces exist, generating the parking space frames of the empty parking spaces.
Illustratively, the point cloud filtering unit includes:
the first filtering unit is used for carrying out primary filtering so as to filter out points with depth values equal to preset depth values in the first point cloud;
and the second filtering unit is used for carrying out secondary filtering so as to filter out outliers in the first point cloud.
Exemplarily, the point cloud sampling unit is used for
And dividing the second point cloud into a plurality of cubes, and reserving 1 point in each cube so as to obtain a third point cloud.
Exemplarily, the empty space recognition unit specifically includes:
the simulation unit is used for traversing all points in the point cloud space of the third point cloud, taking each point as the upper left angular point of the parking space frame, generating a simulated parking space frame corresponding to each point according to the upper left angular point of the parking space frame and the preset parking space three-dimensional space parameters, and judging whether at least one point of the third point cloud exists in the simulated parking space frame; if so, the simulation parking space frame is an invalid simulation parking space frame; if not, the simulated parking space frame is an effective simulated parking space frame;
and the counting unit is used for counting the points corresponding to all the effective simulation parking stall frames and generating the parking stall frame of the empty parking stall according to the points corresponding to all the effective simulation parking stall frames.
The above-described system embodiments are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
It should be noted that the system described in the foregoing embodiment corresponds to the method described in the foregoing embodiment, and therefore, the parts of the system described in the foregoing embodiment that are not described in detail can be obtained by referring to the contents of the method described in the foregoing embodiment, and are not described again here.
Moreover, the parking space recognition system in the above embodiment may be stored in a computer readable storage medium if it is implemented in the form of a software functional unit and sold or used as an independent product.
Another embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method for identifying an empty parking space in a parking lot according to the above embodiment.
Specifically, the computer-readable storage medium may include: any entity or device capable of carrying said computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer memory, read Only memory (R value OM, R value ead-Only memory value y), random Access memory (R value AM, R value and Access memory value y), electrical carrier signal, telecommunications signal, software distribution medium, etc.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the market, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. The utility model provides a parking area vacant parking stall identification method which characterized in that includes:
acquiring a depth image obtained by detecting the single-side direction of a vehicle by a vehicle-mounted depth camera in the driving process of the vehicle;
performing point cloud conversion on the depth image to obtain a first point cloud;
filtering the first point cloud according to a preset filtering rule to obtain a second point cloud;
down-sampling the second point cloud to obtain a third point cloud;
identifying whether an empty parking space exists in the third cloud according to the third cloud and a preset parking space three-dimensional space parameter; and if the empty parking spaces exist, generating the parking space frames of the empty parking spaces.
2. The method for identifying the empty parking spaces in the parking lot according to claim 1, wherein the filtering the first point cloud according to a preset filtering rule to obtain a second point cloud comprises the following steps:
filtering for the first time to filter out points with depth values equal to preset depth values in the first point cloud;
and performing secondary filtering to filter out outliers in the first point cloud.
3. The method for identifying the empty parking space in the parking lot according to claim 1, wherein the down-sampling of the second point cloud to obtain a third point cloud comprises:
and dividing the second point cloud into a plurality of cubes, and reserving 1 point in each cube so as to obtain a third point cloud.
4. The method for identifying the empty parking spaces in the parking lot according to claim 1, wherein the step of identifying whether the empty parking spaces exist in the depth image according to the third point cloud and a preset parking space three-dimensional space parameter comprises the steps of:
traversing all points in the point cloud space of the third point cloud, taking each point as the upper left corner point of the parking space frame, generating a simulated parking space frame corresponding to each point according to the upper left corner point of the parking space frame and the preset parking space three-dimensional space parameters, and judging whether at least one point of the third point cloud exists in the simulated parking space frame; if so, the simulation parking space frame is an invalid simulation parking space frame; if not, the simulated parking space frame is an effective simulated parking space frame;
and counting points corresponding to all the effective simulation parking stall frames, and generating the parking stall frame of the empty parking stall according to the points corresponding to all the effective simulation parking stall frames.
5. The method for identifying the empty space in the parking lot according to claim 1, further comprising:
and respectively generating first display information, second display information, third display information and fourth display information according to the first point cloud, the second point cloud, the third point cloud and the parking space frame, and sending the first display information, the second display information, the third display information and the fourth display information to a vehicle-mounted display unit for synchronous display.
6. The utility model provides a parking area vacant parking stall identification system which characterized in that includes:
the image acquisition unit is used for acquiring a depth image obtained by detecting the direction of one side of the vehicle by the vehicle-mounted depth camera in the driving process of the vehicle;
the point cloud conversion unit is used for carrying out point cloud conversion on the depth image to obtain a first point cloud;
the point cloud filtering unit is used for filtering the first point cloud according to a preset filtering rule to obtain a second point cloud;
the point cloud sampling unit is used for carrying out down-sampling on the second point cloud to obtain a third point cloud; and
the empty parking space identification unit is used for identifying whether an empty parking space exists in the third point cloud according to the third point cloud and preset parking space three-dimensional space parameters; and if the empty parking spaces exist, generating a parking space frame of the empty parking spaces.
7. The parking lot empty space recognition system according to claim 6, wherein the point cloud filtering unit comprises:
the first filtering unit is used for carrying out primary filtering so as to filter out points with depth values equal to preset depth values in the first point cloud;
and the second filtering unit is used for carrying out secondary filtering so as to filter out outliers in the first point cloud.
8. The system of claim 6, wherein the point cloud sampling unit is specifically configured to sample the empty space in the parking lot
And dividing the second point cloud into a plurality of cubes, and reserving 1 point in each cube so as to obtain a third point cloud.
9. The parking lot empty space identification system according to claim 6, wherein the empty space identification unit specifically comprises:
the simulation unit is used for traversing all points in the point cloud space of the third point cloud, taking each point as the upper left angular point of the parking space frame, generating a simulated parking space frame corresponding to each point according to the upper left angular point of the parking space frame and the preset parking space three-dimensional space parameters, and judging whether at least one point of the third point cloud exists in the simulated parking space frame; if so, the simulation parking space frame is an invalid simulation parking space frame; if not, the simulated parking space frame is an effective simulated parking space frame;
and the counting unit is used for counting the points corresponding to all the effective simulation parking stall frames and generating the parking stall frame of the empty parking stall according to the points corresponding to all the effective simulation parking stall frames.
10. A computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the method for identifying an empty space in a parking lot according to any one of claims 1 to 5.
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