JPH0962842A - Parking lot management system - Google Patents
Parking lot management systemInfo
- Publication number
- JPH0962842A JPH0962842A JP21203895A JP21203895A JPH0962842A JP H0962842 A JPH0962842 A JP H0962842A JP 21203895 A JP21203895 A JP 21203895A JP 21203895 A JP21203895 A JP 21203895A JP H0962842 A JPH0962842 A JP H0962842A
- Authority
- JP
- Japan
- Prior art keywords
- image
- vehicle
- edge
- vehicle width
- width direction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000009826 distribution Methods 0.000 claims abstract description 69
- 238000000605 extraction Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 8
- 238000005192 partition Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 2
- 101100400452 Caenorhabditis elegans map-2 gene Proteins 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Landscapes
- Time Recorders, Dirve Recorders, Access Control (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Traffic Control Systems (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Image Analysis (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、駐車場等で車両の空満
の状態を確実に識別する駐車場管理システムに関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking lot management system for surely identifying an empty state of a vehicle in a parking lot or the like.
【０００２】[0002]
【従来の技術】駐車場等での車両の空満の状態を把握
し、空いた場所へ進入車両を誘導するなどの管理はこれ
まで主に人手によってなされていた。しかし近年の人件
費の高騰により人手を省いた機械による管理への要求が
強くなってきている。空満状態を車両の台数で把握する
だけなら、入出門でのチケットを計数管理することで可
能となる。また、各駐車区画に車両センサを取り付けて
その区画の空満状態を把握する方法などもあるが、チケ
ットの計数管理では、空いている区画が把握できず、ま
た区画毎に車両センサを設置するのは設置の手間や場所
を要し柔軟性に欠けるという問題がある。2. Description of the Related Art Up to now, the management such as grasping the empty state of a vehicle in a parking lot or the like and guiding an approaching vehicle to a vacant place has been mainly done by hand. However, due to the recent rise in personnel costs, there is an increasing demand for management by machines without human labor. If you only need to know the empty state by the number of vehicles, you can count and manage the tickets at the entrance and exit. There is also a method of attaching a vehicle sensor to each parking lot to check the vacancy status of the parking lot, but the ticket counting management cannot grasp the vacant lot and installs a vehicle sensor for each division. However, there is a problem in that it requires labor and space for installation and lacks flexibility.
【０００３】そこで、最近の計算機及び画像処理技術の
進展に従って画像を使って自動的に駐車場の管理を行お
うとする試みがなされている。画像処理によれば入力手
段として例えばテレビカメラを一カ所に設置すれば相当
に広い範囲をカバーすることが可能で、区画毎にセンサ
を設置する等と比べて監視条件の制約が少ないなどのよ
り柔軟な対応ができるようになる。Therefore, attempts have been made to automatically manage a parking lot using images in accordance with recent advances in computers and image processing techniques. According to the image processing, if a TV camera is installed in one place as an input means, it is possible to cover a considerably wide range, and there are less restrictions on monitoring conditions compared to installing a sensor for each section. You will be able to respond flexibly.
【０００４】画像を使った駐車場管理としては例えば特
開平６ー１２４４００、特開平６ー３１８２９９があ
る。前者によると、駐車区画と基準点を撮像してその各
々の間の輝度差から車両の有無を検出するようになって
いる。また後者によると、２つ以上のテレビカメラで駐
車場を撮像し、その撮像画像の特徴点の三次元座標を求
めてその高さ成分から車両の有無を判定する。これら
は、２つの画像を比較して所期の目的を達しようとして
いるので日照の変化等の外的条件の変化に対応できると
しているが、２つ以上の撮像手段を設置しなければなら
ないという問題がある。さらに前者では、駐車区画と基
準点の輝度が車両以外の侵入物で独立に変化するおそれ
があり、また後者では、２つの画像の特徴点を一致させ
なけらばならず、信号処理が困難である等の問題を有す
る。For example, Japanese Patent Laid-Open No. 6-124400 and Japanese Patent Laid-Open No. 6-318299 disclose parking lot management using images. According to the former, the parking zone and the reference point are imaged, and the presence or absence of the vehicle is detected from the difference in brightness between them. According to the latter, the parking lot is imaged by two or more TV cameras, the three-dimensional coordinates of the characteristic points of the captured image are obtained, and the presence or absence of the vehicle is determined from the height component. It is said that these are capable of responding to changes in external conditions such as changes in sunshine because they are trying to achieve the intended purpose by comparing two images, but it is said that two or more imaging means must be installed. There's a problem. Furthermore, in the former case, the brightness of the parking section and the reference point may change independently by an intruding object other than the vehicle, and in the latter case, the characteristic points of the two images must be matched, which makes signal processing difficult. There are some problems.
【０００５】[0005]
【発明が解決しようとする課題】本発明は、上記問題点
に鑑みなされたもので、１つの撮像手段で外的条件の変
化に柔軟に対応でき、比較的簡単な画像処理で確実に車
両の有無を識別する技術を提供することを目的とする。SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and is capable of flexibly responding to changes in external conditions with a single image pickup means, and can reliably perform vehicle image processing with relatively simple image processing. The purpose is to provide a technology for identifying presence or absence.
【０００６】[0006]
【課題を解決するための手段】駐車区画を撮像して画像
信号を出力する撮像手段と、同画像信号のレベル変化か
ら撮像画像のエッジを検出する画像処理手段と、そのエ
ッジの平面上の分布の特徴から撮像画像が車両であるか
否かを識別する識別手段と、画像信号の記憶手段及び画
像間の比較手段とを備え、車両が無いときの撮像画像を
基準画像として任意の時刻の入力画像を前記基準画像と
比較することによって、当該入力画像にのみ存在するエ
ッジを抽出し、その平面上の分布から車両の有無を識別
する。An image pickup means for picking up an image of a parking area and outputting an image signal, an image processing means for detecting an edge of a picked-up image from a level change of the image signal, and a distribution of the edge on a plane. Based on the characteristics of 1., an identification unit for identifying whether or not the captured image is a vehicle, an image signal storage unit, and a comparison unit between images are provided, and an arbitrary time is input using the captured image when there is no vehicle as a reference image. By comparing the image with the reference image, the edges existing only in the input image are extracted, and the presence or absence of the vehicle is identified from the distribution on the plane.
【０００７】撮像画像に対応する駐車区画の各区画領域
を入力する入力手段と、入力された区画領域を記憶する
記憶手段を備え、当該各区画領域毎に車両の有無を識別
する。Input means for inputting each section area of the parking section corresponding to the captured image and storage means for storing the input section area are provided, and the presence or absence of a vehicle is identified for each section area.
【０００８】撮像画像の境界の抽出は、ソベル（Ｓｏｂ
ｅｌ）あるいはプレウィット（Ｐｒｅｗｉｔｔ）等の微
分演算子を用いて撮像画像の車幅方向又は車長方向の長
さで微分して車長方向に延びるエッジ又は車幅方向に延
びるエッジを抽出することにより行う。The extraction of the boundary of the captured image is performed by using the Sobel (Sob) method.
el) or Prewitt or the like to differentiate in the vehicle width direction or the vehicle length direction length of the captured image to extract an edge extending in the vehicle length direction or an edge extending in the vehicle width direction. By.
【０００９】基準画像と入力画像を比較する画像比較手
段は、基準画像のエッジと、入力画像のエッジを求め、
入力画像のエッジから基準画像のエッジを差し引いて求
める。The image comparing means for comparing the reference image with the input image obtains the edge of the reference image and the edge of the input image,
It is calculated by subtracting the edge of the reference image from the edge of the input image.
【００１０】基準画像と入力画像を比較する画像比較手
段は、入力画像と基準画像の差分画像を求め、同差分画
像のエッジを求めることで行う。The image comparison means for comparing the reference image and the input image is performed by obtaining a difference image between the input image and the reference image and obtaining an edge of the difference image.
【００１１】基準画像と入力画像を比較する画像比較手
段は、入力画像と基準画像の差分画像を求め、同差分画
像のエッジと入力画像のエッジの論理積より求める。The image comparison means for comparing the reference image and the input image obtains a difference image between the input image and the reference image, and obtains the logical product of the edge of the difference image and the edge of the input image.
【００１２】車両の有無の識別は、車長方向のエッジと
車幅方向のエッジの少なくとも一方を車長方向及び車幅
方向に投影して車幅方向及び車長方向のエッジの強度分
布を求め、その分布状態により識別する。To identify the presence or absence of a vehicle, at least one of the edge in the vehicle length direction and the edge in the vehicle width direction is projected in the vehicle length direction and the vehicle width direction to obtain an intensity distribution of the edge in the vehicle width direction and the vehicle length direction. , Identify by its distribution.
【００１３】車両の有無の識別は、車長方向のエッジを
車長方向及び車幅方向に投影して車幅方向及び車長方向
のエッジの強度分布を求め、車長方向の投影による車幅
方向のエッジの強度分布の本数又はピーク位置等から車
幅に関する情報を得、車幅方向の投影による車長方向の
エッジの強度分布から車長に関する情報を得る。In order to identify the presence or absence of a vehicle, the edges in the vehicle length direction are projected in the vehicle length direction and the vehicle width direction to obtain the intensity distribution of the edges in the vehicle width direction and the vehicle length direction, and the vehicle width is projected in the vehicle length direction. Information about the vehicle width is obtained from the number of edge intensity distributions or peak positions in the direction, and information about the vehicle length is obtained from the edge intensity distribution in the vehicle length direction projected in the vehicle width direction.
【００１４】車両の有無の識別は、車幅方向のエッジを
車長方向及び車幅方向に投影してその各方向のエッジの
強度分布を求め、車長方向の投影による車幅方向のエッ
ジの強度分布から車幅に関する情報を得、車幅方向の投
影による車長方向の強度分布のエッジの本数又はピーク
位置等から車頭、車尾、バンパー、フロントガラスの端
等の情報を得る。To identify the presence / absence of a vehicle, the edges in the vehicle width direction are projected in the vehicle length direction and the vehicle width direction to obtain the intensity distribution of the edges in each direction, and the edges in the vehicle width direction are projected by projecting in the vehicle length direction. Information about the vehicle width is obtained from the intensity distribution, and information about the vehicle head, the tail, the bumper, the edge of the windshield, etc. is obtained from the number of edges or the peak position of the intensity distribution in the vehicle length direction projected in the vehicle width direction.
【００１５】車両の有無の識別は、車長方向のエッジを
車長方向に投影して車幅方向のエッジの強度分布を求
め、車幅方向のエッジを車幅方向に投影して車長方向の
エッジの強度分布を求め、車長方向の投影による車幅方
向のエッジの強度分布の本数又はピーク位置等から車幅
に関する情報を得、車幅方向の投影による車長方向のエ
ッジの強度分布の本数又はピーク位置等から車長に関す
る車頭、車尾、バンパー、フロントガラスの端等の情報
を得る。To identify the presence or absence of a vehicle, the edge in the vehicle length direction is projected in the vehicle length direction to obtain the intensity distribution of the edge in the vehicle width direction, and the edge in the vehicle width direction is projected in the vehicle width direction to determine the vehicle length direction. The vehicle edge direction intensity distribution is obtained from the vehicle width direction projection, and the vehicle width information is obtained from the number or peak position of the vehicle width direction edge intensity distribution projected by the vehicle length direction. Information such as the vehicle head, the tail, the bumper, and the edge of the windshield regarding the vehicle length is obtained from the number of cars or the peak position.
【００１６】車両の有無の識別は、車幅又は車長に関す
る情報の少なくとも一方から識別し、車長又は車幅が所
定の範囲にあることで車両が有りと識別する。The presence / absence of the vehicle is identified from at least one of the information regarding the vehicle width or the vehicle length, and the presence of the vehicle is identified when the vehicle length or the vehicle width is within a predetermined range.
【００１７】計時手段を備え、基準画像として、車両の
存在が識別されない限りその時の入力画像を基準画像と
して一定時間間隔で更新する。Time measuring means is provided, and as the reference image, the input image at that time is updated as the reference image at regular time intervals unless the presence of the vehicle is identified.
【００１８】入力画像と基準画像の各画素のレベル差が
予め定めた値より小さい場合は当該入力画像の画素レベ
ルを基準画像の画素レベルとし、前記予め定めた値より
大きい場合は、基準画像の画素レベルに所定の係数を乗
算した値を加算して新たな基準画像とする。If the level difference between each pixel of the input image and the reference image is smaller than a predetermined value, the pixel level of the input image is set as the pixel level of the reference image. If the difference is larger than the predetermined value, the reference image A value obtained by multiplying the pixel level by a predetermined coefficient is added to form a new reference image.
【００１９】計時手段を備え、車両の存在を確認後に一
定時間経過したときに駐車状態とする。A time keeping means is provided, and the vehicle is parked when a certain time has passed after the existence of the vehicle is confirmed.
【００２０】[0020]
【作用】駐車区画を撮像して画像信号を出力する撮像手
段と、同画像信号のレベル変化から撮像画像のエッジを
検出する画像処理手段と、そのエッジの平面上の分布の
特徴から撮像画像が車両であるか否かを識別する識別手
段と、画像信号の記憶手段及び画像間の比較手段とを備
え、車両が無いときの撮像画像を基準画像として任意の
時刻の入力画像を前記基準画像と比較することによっ
て、当該入力画像にのみ存在するエッジを抽出し、その
平面上の分布から車両の有無を識別することで、１つの
撮像手段で車両の有無を確実に識別することができる。The image pickup means for picking up an image of the parking area and outputting the image signal, the image processing means for detecting the edge of the picked up image from the level change of the image signal, and the feature of the distribution of the edge on the plane form the picked up image. An identification means for identifying whether the vehicle is a vehicle, a storage means for image signals, and a comparison means between images are provided, and an input image at any time is used as a reference image with a captured image when there is no vehicle as a reference image. By comparing, the edges existing only in the input image are extracted, and the presence / absence of the vehicle is identified from the distribution on the plane, whereby the presence / absence of the vehicle can be reliably identified by one image capturing unit.
【００２１】撮像画像に対応する駐車区画の各区画領域
を入力する入力手段と、入力された区画領域を記憶する
記憶手段を備え、当該各区画領域毎に車両の有無を識別
することで、１つの撮像手段で多くの区画の車両の有無
が識別できる。By providing an input means for inputting each division area of the parking division corresponding to the picked-up image and a storage means for storing the input division area, the presence / absence of a vehicle is identified for each division area. The presence / absence of vehicles in many sections can be identified by one imaging means.
【００２２】撮像画像のエッジの抽出は、ソベル（Ｓｏ
ｂｅｌ）あるいはプレウィット（Ｐｒｅｗｉｔｔ）等の
微分演算子を用いて撮像画像の車幅方向又は車長方向の
長さで微分して車長方向に延びるエッジ又は車幅方向に
延びるエッジを抽出することにより行うことで、正確に
エッジが検出できる。The extraction of the edge of the picked-up image is carried out by Sobel (So
and an edge extending in the vehicle length direction or an edge extending in the vehicle width direction by differentiating the captured image in the vehicle width direction or the vehicle length direction using a differential operator such as bel) or Prewitt. By doing so, the edge can be accurately detected.
【００２３】基準画像と入力画像を比較する画像比較手
段は、基準画像のエッジと、入力画像のエッジを求め、
入力画像のエッジから基準画像のエッジを差し引いて求
めることで、区画の境界線などの背景による影響が除去
できる。The image comparing means for comparing the reference image with the input image obtains the edge of the reference image and the edge of the input image,
By subtracting the edge of the reference image from the edge of the input image, it is possible to remove the influence of the background such as the boundary line of the section.
【００２４】基準画像と入力画像を比較する画像比較手
段は、入力画像と基準画像の差分画像を求め、同差分画
像のエッジを求めることで行うこととすることで、前記
同様の効果を得る。The image comparing means for comparing the reference image with the input image obtains the difference image between the input image and the reference image, and obtains the edge of the difference image to obtain the same effect as described above.
【００２５】基準画像と入力画像を比較する画像比較手
段は、入力画像と基準画像の差分画像を求め、同差分画
像のエッジと入力画像のエッジの論理積より求めること
とすることで、より正確な比較ができる。The image comparing means for comparing the reference image with the input image obtains a difference image between the input image and the reference image, and obtains a logical product of the edge of the difference image and the edge of the input image to obtain a more accurate result. You can make various comparisons.
【００２６】車両の有無の識別は、車長方向のエッジと
車幅方向のエッジの少なくとも一方を車長方向及び車幅
方向に投影して車幅方向及び車長方向のエッジの強度分
布を求め、その分布状態により識別することで、車両の
大きさ、形状等の特徴を把握でき、車両以外のものの存
在と車両の存在を容易に識別できる。To identify the presence or absence of a vehicle, at least one of the edge in the vehicle length direction and the edge in the vehicle width direction is projected in the vehicle length direction and the vehicle width direction to obtain the intensity distribution of the edge in the vehicle width direction and the vehicle length direction. By identifying the distribution state, characteristics such as the size and shape of the vehicle can be grasped, and the existence of something other than the vehicle and the existence of the vehicle can be easily identified.
【００２７】車両の有無の識別は、車長方向のエッジを
車長方向及び車幅方向に投影して車幅方向及び車長方向
のエッジの強度分布を求め、車長方向の投影による車幅
方向のエッジの強度分布の本数又はピーク位置等から車
幅に関する情報を得、車幅方向の投影による車長方向の
エッジの強度分布から車長に関する情報を得ることで、
比較的簡単な構成で車両の識別ができる。In order to identify the presence or absence of a vehicle, the edges in the vehicle length direction are projected in the vehicle length direction and the vehicle width direction to obtain intensity distributions of the edges in the vehicle width direction and the vehicle length direction, and the vehicle width is projected in the vehicle length direction. By obtaining information about the vehicle width from the number of edge intensity distributions in the direction or the peak position, etc., and obtaining information about the vehicle length from the edge intensity distribution in the vehicle length direction projected in the vehicle width direction,
Vehicles can be identified with a relatively simple configuration.
【００２８】車両の有無の識別は、車幅方向のエッジを
車長方向及び車幅方向に投影してその各方向のエッジの
強度分布を求め、車長方向の投影による車幅方向のエッ
ジの強度分布から車幅に関する情報を得、車幅方向の投
影による車長方向のエッジの強度分布の本数又はピーク
位置等から車頭、車尾、バンパー、フロントガラスの端
等の情報を得ることで、より細かな車両形状の情報が得
られる。To identify the presence / absence of a vehicle, the edges in the vehicle width direction are projected in the vehicle length direction and the vehicle width direction to obtain the intensity distribution of the edges in each direction, and the edges in the vehicle width direction are projected by projecting in the vehicle length direction. By obtaining information on the vehicle width from the intensity distribution, and obtaining information on the vehicle head, tail, bumper, windshield edge, etc. from the number or peak position of the intensity distribution of the edge in the vehicle length direction projected in the vehicle width direction, More detailed vehicle shape information can be obtained.
【００２９】車両の有無の識別は、車長方向のエッジを
車長方向に投影して車幅方向のエッジの強度分布を求
め、車幅方向のエッジを車幅方向に投影して車長方向の
エッジの強度分布を求め、車長方向の投影による車幅方
向のエッジの強度分布の本数又はピーク位置等から車幅
に関する情報を得、車幅方向の投影による車長方向のエ
ッジの強度分布の本数又はピーク位置等から車長に関す
る車頭、車尾、バンパー、フロントガラスの端等の情報
を得ることで、更に細かな車両形状の情報が得られる。In order to identify the presence or absence of a vehicle, the edge in the vehicle length direction is projected in the vehicle length direction to obtain an intensity distribution of the edge in the vehicle width direction, and the edge in the vehicle width direction is projected in the vehicle width direction to determine the vehicle length direction. The vehicle edge direction intensity distribution is obtained from the vehicle width direction projection, and the vehicle width information is obtained from the number or peak position of the vehicle width direction edge intensity distribution projected by the vehicle length direction. Further detailed vehicle shape information can be obtained by obtaining information on the vehicle head, the tail, the bumper, the edge of the windshield, and the like relating to the vehicle length from the number of or the peak position.
【００３０】車両の有無の識別は、車幅又は車長に関す
る情報の少なくとも一方から識別し、車長又は車幅が所
定の範囲にあることで車両が有りと識別することで、確
実に車両の有無が識別できる。The presence / absence of the vehicle is identified from at least one of the information relating to the vehicle width or the vehicle length, and the presence of the vehicle is identified when the vehicle length or the vehicle width is within a predetermined range. Presence can be identified.
【００３１】計時手段を備え、基準画像として、車両の
存在が識別されない限りその時の入力画像を基準画像と
して一定時間間隔で更新することで、日照等の変化によ
り背景画像が変化しても正確な車両識別ができる。By providing a time measuring means and updating the input image at that time as a reference image as a reference image at regular time intervals unless the existence of a vehicle is identified as a reference image, even if the background image changes due to changes in sunshine, etc. Vehicle identification is possible.
【００３２】入力画像と基準画像の各画素のレベル差が
予め定めた値より小さい場合は当該入力画像の画素レベ
ルを基準画像の画素レベルとし、前記予め定めた値より
大きい場合は、基準画像の画素レベルに所定の係数を乗
算した値を加算して新たな基準画像とすることで、車両
の入車等の急激な背景変化は基準画像としない。When the level difference between each pixel of the input image and the reference image is smaller than a predetermined value, the pixel level of the input image is set as the pixel level of the reference image. When the difference is larger than the predetermined value, the reference image By adding a value obtained by multiplying the pixel level by a predetermined coefficient to form a new reference image, a sudden background change such as entry of a vehicle is not used as the reference image.
【００３３】計時手段を備え、車両の存在を確認後に一
定時間経過したときに駐車状態とすることで、車向変更
時等の一時停車と実際の駐車を区別できる。By providing the time measuring means and putting the vehicle in the parked state after a certain time has passed after confirming the existence of the vehicle, it is possible to distinguish between the temporary stop and the actual parking when changing the direction of the vehicle.
【００３４】[0034]
【実施例】以下、本発明による駐車場管理システムにつ
いて、図を用いて詳細に説明する。図１は、本発明によ
る駐車場管理システムの１実施例のブロック図である。
撮像手段としてのテレビカメラ１から入力する画像信号
をアナログ／ディジタル変換器２でディジタル画像信号
とし、制御部５により画像処理部３の手順に従い、フレ
ームメモリ４の中の基準画像４ａ又は入力画像４ｂに入
力する。制御部５及び画像処理部３による処理結果は区
画重畳部９で区画メモリ８に記憶してある駐車場の区画
情報を重畳して、ディジタル／アナログ変換器１０でア
ナログ画像信号としテレビモニタ１１に表示する。区画
情報は、マウス等のポインティングデバイスからなる入
力部６からテレビモニタ１１を見ながら入力し、入力情
報は制御部５及び設定部７により区画メモリ８に記憶す
る。区画情報は通常駐車場の区画に沿うような長方形で
設定される。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A parking lot management system according to the present invention will be described in detail below with reference to the drawings. FIG. 1 is a block diagram of an embodiment of a parking lot management system according to the present invention.
An image signal input from a television camera 1 as an image pickup means is converted into a digital image signal by an analog / digital converter 2 and a control unit 5 follows a procedure of an image processing unit 3 to follow a reference image 4a or an input image 4b in a frame memory 4. To enter. The processing results by the control unit 5 and the image processing unit 3 are superimposed on the partition information of the parking lot stored in the partition memory 8 by the partition superimposing unit 9, and are converted into analog image signals by the digital / analog converter 10 on the television monitor 11. indicate. The partition information is input while watching the television monitor 11 from the input unit 6 including a pointing device such as a mouse, and the input information is stored in the partition memory 8 by the control unit 5 and the setting unit 7. The division information is usually set in a rectangle along the division of the parking lot.
【００３５】駐車場の監視を開始する前に、車両の無い
状態での撮像画像を取り込みこれを基準画像としてフレ
ームメモリ４の基準画像４ａに記憶する。監視の開始後
は一定の間隔、通常はテレビのフレームレートで評価す
べき撮像画像を取り込みこれを入力画像としてフレーム
メモリ４の入力画像４ｂに記憶する。基準画像と入力画
像のエッジを抽出して、それぞれフレームメモリ４の背
景エッジ４ｃと入力エッジ４ｄに記憶する。各画像のエ
ッジの抽出は、公知の方法であるソベル（Ｓｏｂｅｌ）
あるいはプレウィット（Ｐｒｅｗｉｔｔ）等の微分演算
子（例えば、総研出版、コンピュータ画像処理入門によ
る）を用いて、駐車場平面内の撮像画像の車幅方向又は
車長方向の長さで微分を求めて、車長方向に延びたエッ
ジ及び車幅方向に延びたエッジを得ることができる。Before the monitoring of the parking lot is started, a picked-up image in a state without a vehicle is fetched and stored in the reference image 4a of the frame memory 4 as a reference image. After the start of monitoring, a captured image to be evaluated at a fixed interval, usually at a frame rate of a television, is captured and stored in the input image 4b of the frame memory 4 as an input image. The edges of the reference image and the input image are extracted and stored in the background edge 4c and the input edge 4d of the frame memory 4, respectively. The extraction of edges of each image is a known method (Sobel).
Alternatively, by using a differential operator such as Prewitt (for example, by Soken Publishing, an introduction to computer image processing), the differential is obtained in the vehicle width direction or the vehicle length direction of the captured image in the parking lot plane. It is possible to obtain an edge extending in the vehicle length direction and an edge extending in the vehicle width direction.
【００３６】つぎに、入力画像のエッジと基準画像のエ
ッジを比較して、入力画像にのみ存在するエッジを抽出
しフレームメモリのエッジ変化４ｅに記憶する。入力画
像にのみ存在するエッジの抽出の実施例の１つは、先ず
基準画像のエッジと入力画像のエッジを求め、入力画像
のエッジから基準画像のエッジを差し引いて求めること
ができる。別の実施例としては、入力画像と基準画像の
差分画像を求め、同差分画像のエッジを求めることで行
うことができる。また更に別の実施例としては、入力画
像と基準画像の差分画像を求め、同差分画像のエッジと
入力画像のエッジの論理積より求めることもできる。入
力画像にのみ存在するエッジの分布状態から、制御部５
及び識別部１２で車両の有無を識別する。Next, the edges of the input image are compared with the edges of the reference image, and the edges existing only in the input image are extracted and stored in the edge change 4e of the frame memory. One of the embodiments of extracting the edge existing only in the input image can be obtained by first obtaining the edge of the reference image and the edge of the input image, and then subtracting the edge of the reference image from the edge of the input image. As another embodiment, the difference image between the input image and the reference image may be obtained, and the edge of the difference image may be obtained. As yet another embodiment, a difference image between the input image and the reference image may be obtained, and the difference image between the edge of the difference image and the edge of the input image may be obtained. From the distribution state of the edges existing only in the input image, the control unit 5
And the presence or absence of the vehicle is identified by the identifying unit 12.
【００３７】図２は、本発明による駐車場管理システム
の他の実施例を示すための駐車場１区画の画像処理の概
念図で（Ａ）基準画像、（Ｂ）入力画像、（Ｃ）基準画
像の車長方向のエッジ、（Ｄ）入力画像の車長方向のエ
ッジ、（Ｅ）入力画像にのみ存在する車長方向のエッ
ジ，（Ｆ）車長方向のエッジの強度分布，（Ｇ）車幅方
向のエッジの強度分布である。図（Ａ）基準画像及び図
（Ｂ）入力画像は、図１のフィールドメモリ４の基準画
像４ａ及び同入力画像４ｂから制御部５及び画像処理部
３で区画メモリ８を参照してその１区画を切り出したも
のである。基準画像（Ａ）には駐車場の区画線２１等の
固定した背景や日照等による変動する背景画像がある。
入力画像（Ｂ）には基準画像の背景等２１の他に車両が
有る場合にはその画像２２が加わる。これらの画像を前
記の手法で車幅方向ｘの長さで微分して図（Ｃ）基準画
像の車長方向ｙに延びるエッジ２１ｙと、図（Ｄ）入力
画像の車長方向ｙに延びるエッジ２１ｙ、２２ｙを得
る。入力画像のエッジ（Ｄ）と基準画像のエッジ（Ｃ）
の差分を取り、入力画像にのみ存在するエッジ（Ｅ）を
得る。この入力画像にのみ存在するエッジ（Ｅ）を車長
方向ｙに投影することで図（Ｇ）車幅方向ｘのエッジの
強度分布Ｉｘが得られ、車幅方向ｘに投影することで図
（Ｆ）車長方向ｙのエッジの強度分布Ｉｙが得られる。
この図（Ｇ）車幅方向ｘのエッジの強度分布Ｉｘの分布
状況から車幅と見られるｄｘが、また、図（Ｆ）車長方
向ｙのエッジの強度分布Ｉｙから車長と見られるｄｙが
得られる。これらの値ｄｘ、ｄｙが駐車車両の車幅及び
車長として予定されている範囲にあるときは車両有りと
識別しそれ以外のときは無しとする。FIG. 2 is a conceptual diagram of image processing for one section of a parking lot to show another embodiment of the parking lot management system according to the present invention. (A) reference image, (B) input image, (C) reference Edge in the vehicle length direction of the image, (D) edge in the vehicle length direction of the input image, (E) edge in the vehicle length direction that exists only in the input image, (F) intensity distribution of the edge in the vehicle length direction, (G) It is the intensity distribution of the edge in the vehicle width direction. The reference image (A) and the input image (B) in FIG. 1 are divided into one section by referring to the section memory 8 in the control unit 5 and the image processing unit 3 from the reference image 4a and the input image 4b of the field memory 4 in FIG. It is a cut out. The reference image (A) includes a fixed background such as the marking line 21 of the parking lot and a background image that changes due to sunlight.
In the input image (B), in addition to the background 21 of the reference image and the like, the image 22 of the vehicle is added when the vehicle is present. These images are differentiated by the length in the vehicle width direction x by the method described above, and an edge 21y extending in the vehicle length direction y of the reference image (C) and an edge 21y extending in the vehicle length direction y of the input image (D). 21y and 22y are obtained. Input image edge (D) and reference image edge (C)
And the edge (E) existing only in the input image is obtained. By projecting the edge (E) existing only in this input image in the vehicle length direction y, the intensity distribution Ix of the edge in the vehicle width direction x is obtained, and by projecting the edge intensity distribution Ix in the vehicle width direction x ( F) An intensity distribution Iy of the edge in the vehicle length direction y is obtained.
In this figure (G), the vehicle width dx that is seen as the vehicle width from the distribution state of the edge intensity distribution Ix in the vehicle width direction x, and in the figure (F) as the vehicle length dy that is seen as the edge strength distribution Iy in the vehicle length direction y. Is obtained. When these values dx and dy are within the predetermined range for the vehicle width and vehicle length of the parked vehicle, it is determined that the vehicle is present, and otherwise the vehicle is not present.
【００３８】図３は、本発明による駐車場管理システム
の更に他の実施例を示すための駐車場１区画の画像処理
の概念図で（Ａ）基準画像、（Ｂ）入力画像、（Ｃ）基
準画像の車幅方向のエッジ、（Ｄ）入力画像の車幅方向
のエッジ、（Ｅ）入力画像にのみ存在する車幅方向のエ
ッジ，（Ｆ）車長方向のエッジの強度分布，（Ｇ）車幅
方向のエッジの強度分布である。図（Ａ）基準画像及び
図（Ｂ）入力画像は、図１のフィールドメモリ４の基準
画像４ａ及び同入力画像４ｂから制御部５及び画像処理
部３で区画メモリ８を参照してその１区画を切り出した
ものである。基準画像（Ａ）には駐車場の区画線３１等
の固定した背景や日照等による変動する画像がある。入
力画像（Ｂ）には基準画像の背景等３１の他に車両が有
る場合にはその画像３２が加わる。これらの画像を前記
の手法で車長方向ｙの長さで微分して図（Ｃ）基準画像
の車幅方向ｘに延びるエッジ３１ｙと、図（Ｄ）入力画
像の車幅方向ｙに延びるエッジ３１ｙ、３２ｙを得る。
入力画像のエッジ（Ｄ）と基準画像のエッジ（Ｃ）の差
分を取り、入力画像にのみ存在するエッジ（Ｅ）を得
る。この入力画像にのみ存在するエッジ（Ｅ）を車長方
向ｙに投影することで図（Ｇ）車幅方向ｘのエッジの強
度分布Ｉｘが得られ、車幅方向ｘに投影することで図
（Ｆ）車長方向ｙのエッジの強度分布Ｉｙが得られる。
この図（Ｇ）車幅方向ｘのエッジの強度分布Ｉｘの分布
状況から車幅と見られるｄｘが、また、（Ｆ）車長方向
ｙのエッジの強度分布Ｉｙから車長と見られるｄｙが得
られる。これらの値ｄｘ、ｄｙが駐車車両の車幅及び車
長として予定されている範囲にあるときは車両有りと識
別しそれ以外のときは無しとする。FIG. 3 is a conceptual diagram of image processing for one section of a parking lot to show still another embodiment of the parking lot management system according to the present invention (A) reference image, (B) input image, (C). Vehicle width direction edge of the reference image, (D) vehicle width direction edge of the input image, (E) vehicle width direction edge that exists only in the input image, (F) vehicle length direction edge intensity distribution, (G) ) This is an edge intensity distribution in the vehicle width direction. The reference image (A) and the input image (B) in FIG. 1 are divided into one section by referring to the section memory 8 in the control unit 5 and the image processing unit 3 from the reference image 4a and the input image 4b of the field memory 4 in FIG. It is a cut out. The reference image (A) includes a fixed background such as the marking line 31 of the parking lot and a variable image due to sunlight or the like. In the input image (B), in addition to the background 31 of the reference image, if there is a vehicle, the image 32 thereof is added. These images are differentiated by the length in the vehicle length direction y by the above-described method, and an edge 31y extending in the vehicle width direction x of the reference image (C) and an edge 31y extending in the vehicle width direction y of the input image (D). 31y and 32y are obtained.
The difference between the edge (D) of the input image and the edge (C) of the reference image is calculated to obtain the edge (E) that exists only in the input image. By projecting the edge (E) existing only in this input image in the vehicle length direction y, the intensity distribution Ix of the edge in the vehicle width direction x is obtained, and by projecting the edge intensity distribution Ix in the vehicle width direction x ( F) An intensity distribution Iy of the edge in the vehicle length direction y is obtained.
In the figure (G), the vehicle width dx that is seen as the vehicle width from the distribution state of the edge intensity distribution Ix in the vehicle width direction x, and (F) the vehicle length dy that is seen as the vehicle length from the edge intensity distribution Iy in the vehicle length direction y can get. When these values dx and dy are within the predetermined range for the vehicle width and vehicle length of the parked vehicle, it is determined that the vehicle is present, and otherwise the vehicle is not present.
【００３９】上記では、一方向に延びるエッジの車幅及
び車長方向の強度分布で車両を識別していたが、本発明
はこれに限るものではなく、車長方向のエッジの車幅方
向の強度分布図２，（Ｇ）と車幅方向のエッジの車長方
向の強度分布図３（Ｆ）を用いて車両の有無を識別する
事もできる。この場合はエッジの延びる方向で累和され
るため分布がより明瞭となり車幅や車長のみならず、車
頭、車尾、バンパーやフロントガラス等も識別できる。In the above, the vehicle is identified by the vehicle width of the edge extending in one direction and the strength distribution in the vehicle length direction, but the present invention is not limited to this, and the vehicle width direction of the edge in the vehicle length direction is not limited to this. It is also possible to identify the presence or absence of a vehicle by using the intensity distribution map 2 (G) and the intensity distribution graph 3 (F) in the vehicle length direction of the edge in the vehicle width direction. In this case, the distribution is more clear because the sums are accumulated in the direction in which the edges extend, so that not only the vehicle width and vehicle length but also the vehicle head, tail, bumper, windshield, etc. can be identified.
【００４０】入力画像のみに存在するエッジの求め方
は、上記では基準画像のエッジと、入力画像のエッジを
求め、入力画像のエッジから基準画像のエッジを差し引
いて求めているが本発明はこれに限るものではなく、例
えば、入力画像と基準画像の差分画像を求め、同差分画
像のエッジを求めても良く、また、入力画像と基準画像
の差分画像を求め、同差分画像のエッジと入力画像のエ
ッジの論理積より求めることもできる。In the above, the method of obtaining the edges existing only in the input image is obtained by obtaining the edges of the reference image and the edges of the input image and subtracting the edges of the reference image from the edges of the input image. However, the difference image between the input image and the reference image may be obtained and the edge of the difference image may be obtained. Alternatively, the difference image between the input image and the reference image may be obtained, and the edge of the difference image may be input. It can also be obtained from the logical product of the edges of the image.
【００４１】[0041]
【発明の効果】以上説明したように、車両が無いときの
撮像画像を基準画像として任意の時刻の入力画像を前記
基準画像と比較することによって、当該入力画像にのみ
存在するエッジを抽出し、その平面上の分布から車両の
有無を識別することで、１台の撮像手段でも駐車場全体
の管理ができ、また車両と車両以外の侵入物が明確に識
別でき、信頼性の高い駐車場管理システムが得られる。As described above, by comparing the input image at any time with the reference image using the image captured when there is no vehicle as the reference image, the edges existing only in the input image are extracted, By identifying the presence / absence of a vehicle from the distribution on the plane, the entire parking lot can be managed with a single image pickup means, and vehicles and intruders other than the vehicle can be clearly identified, and highly reliable parking lot management. The system is obtained.
【図１】本発明による駐車場管理システムの１実施例の
ブロック図である。FIG. 1 is a block diagram of an embodiment of a parking lot management system according to the present invention.
【図２】本発明による駐車場管理システムの他の実施例
を示すための駐車場１区画の画像処理の概念図で（Ａ）
基準画像、（Ｂ）入力画像、（Ｃ）基準画像の車長方向
のエッジ、（Ｄ）入力画像の車長方向のエッジ、（Ｅ）
入力画像にのみ存在する車長方向のエッジ，（Ｆ）車長
方向のエッジの強度分布，（Ｇ）車幅方向のエッジの強
度分布である。FIG. 2 is a conceptual diagram of image processing for one section of a parking lot to show another embodiment of the parking lot management system according to the present invention (A).
Reference image, (B) input image, (C) edge in vehicle length direction of reference image, (D) edge in vehicle length direction of input image, (E)
The vehicle-length-direction edge existing only in the input image, (F) the vehicle-length-direction edge intensity distribution, and (G) the vehicle-width-direction edge intensity distribution.
【図３】本発明による駐車場管理システムの更に他の実
施例を示すための駐車場１区画の画像処理の概念図で
（Ａ）基準画像、（Ｂ）入力画像、（Ｃ）基準画像の車
幅方向のエッジ、（Ｄ）入力画像の車幅方向のエッジ、
（Ｅ）入力画像にのみ存在する車幅方向のエッジ，
（Ｆ）車長方向のエッジの強度分布，（Ｇ）車幅方向の
エッジの強度分布である。FIG. 3 is a conceptual diagram of image processing for one section of a parking lot to show still another embodiment of the parking lot management system according to the present invention, in which (A) reference image, (B) input image, and (C) reference image. Edge in the vehicle width direction, (D) Edge in the vehicle width direction of the input image,
(E) An edge in the vehicle width direction that exists only in the input image,
(F) Edge intensity distribution in the vehicle length direction, (G) Edge intensity distribution in the vehicle width direction.
【符号の説明】 １ テレビカメラ ２ アナログ／ディジタル変換器 ３ 画像処理部 ４ フレームメモリ ５ 制御部 ６ 入力部 ７ 設定部 ８ 区画メモリ ９ 区画重畳部 １０ ディジタル／アナログ変換器 １１ テレビモニタ １２ 識別部 ２１ 区画線 ２２ 車両 ３１ 区画線 ３２ 車両 ｘ 車幅方向 ｙ 車長方向 Ｉｘ エッジの車幅方向の強度分布 Ｉｙ エッジの車長方向の強度分布[Explanation of Codes] 1 TV camera 2 Analog / digital converter 3 Image processing unit 4 Frame memory 5 Control unit 6 Input unit 7 Setting unit 8 Partition memory 9 Partition overlapping unit 10 Digital / Analog converter 11 Television monitor 12 Identification unit 21 Marking line 22 Vehicle 31 Marking line 32 Vehicle x Vehicle width direction y Vehicle length direction Ix Edge strength distribution in vehicle width direction Iy Edge strength distribution in vehicle length direction
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.6 識別記号 庁内整理番号 ＦＩ 技術表示箇所 Ｇ０８Ｇ 1/01 Ｇ０８Ｇ 1/14 Ａ 1/04 Ｇ０１Ｖ 9/04 Ｓ 1/14 Ｇ０６Ｆ 15/21 Ｅ ─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. 6 Identification code Internal reference number FI Technical display location G08G 1/01 G08G 1/14 A 1/04 G01V 9/04 S 1/14 G06F 15/21 E
Claims (14)
撮像手段と、同画像信号のレベル変化から撮像画像のエ
ッジを検出する画像処理手段と、そのエッジの平面上の
分布の特徴から撮像画像が車両であるか否かを識別する
識別手段と、画像信号の記憶手段及び画像間の比較手段
とを備え、車両が無いときの撮像画像を基準画像として
任意の時刻の入力画像を前記基準画像と比較することに
よって当該入力画像にのみ存在するエッジを抽出し、そ
の平面上の分布から車両の有無を識別することを特徴と
した駐車場管理システム。1. An image pickup means for picking up an image of a parking area and outputting an image signal, an image processing means for detecting an edge of a picked-up image from a level change of the image signal, and an image pick-up based on a feature of distribution of the edge on a plane. The image pickup device includes an identification unit for identifying whether or not the image is a vehicle, a storage unit for the image signal, and a comparison unit for comparing the images, and the input image at any time is used as the reference image with the captured image when there is no vehicle as the reference image. A parking lot management system characterized by extracting edges existing only in the input image by comparing with the image and identifying the presence or absence of a vehicle from the distribution on the plane.
域を入力する入力手段と、入力された区画領域を記憶す
る記憶手段を備え、当該各区画領域毎に車両の有無を識
別することを特徴とした請求項１記載の駐車場管理シス
テム。2. An input means for inputting each division area of a parking division corresponding to a captured image, and a storage means for storing the input division area, wherein the presence or absence of a vehicle is identified for each division area. The parking lot management system according to claim 1, which is characterized.
を用いて撮像画像を車幅方向又は車長方向の長さで微分
して車長方向のエッジ又は車幅方向のエッジを抽出する
ことにより行うことを特徴とした請求項１記載の駐車場
管理システム。3. Extraction of an edge of a captured image is performed by differentiating the captured image by a length in a vehicle width direction or a vehicle length direction using a differential operator to extract an edge in the vehicle length direction or an edge in the vehicle width direction. The parking lot management system according to claim 1, wherein the parking lot management system is performed by the above.
手段は、基準画像のエッジと、入力画像のエッジを求
め、入力画像のエッジから基準画像のエッジを差し引い
て求めることを特徴とした請求項１記載の駐車場管理シ
ステム。4. The image comparison means for comparing the reference image and the input image, wherein the edge of the reference image and the edge of the input image are obtained, and the edge of the reference image is subtracted from the edge of the input image. The parking lot management system according to item 1.
手段は、入力画像と基準画像の差分画像を求め、同差分
画像のエッジを求めることで行うことを特徴とした請求
項１記載の駐車場管理システム。5. The parking according to claim 1, wherein the image comparing means for comparing the reference image with the input image obtains a difference image between the input image and the reference image and obtains an edge of the difference image. Garage management system.
手段は、入力画像と基準画像の差分画像を求め、同差分
画像のエッジと入力画像のエッジの論理積より求めるこ
とを特徴とした請求項１記載の駐車場管理システム。6. An image comparison means for comparing a reference image and an input image, wherein a difference image between the input image and the reference image is obtained, and the difference image is obtained from a logical product of an edge of the difference image and an edge of the input image. The parking lot management system according to item 1.
と車幅方向のエッジの少なくとも一方を車長方向及び車
幅方向に投影して車幅方向及び車長方向の強度分布を求
め、その分布状態により識別することを特徴とした請求
項１記載の駐車場管理システム。7. The presence / absence of a vehicle is determined by projecting at least one of an edge in the vehicle length direction and an edge in the vehicle width direction in the vehicle length direction and the vehicle width direction to obtain an intensity distribution in the vehicle width direction and the vehicle length direction. The parking lot management system according to claim 1, wherein the parking lot management system is identified by its distribution state.
を車長方向及び車幅方向に投影して車幅方向及び車長方
向の強度分布を求め、車長方向の投影による車幅方向の
強度分布の本数又はピーク位置等から車幅に関する情報
を得、車幅方向の投影による車長方向のエッジの強度分
布から車長に関する情報を得ることを特徴とした請求項
７記載の駐車場管理システム。8. The identification of the presence or absence of a vehicle is performed by projecting edges in the vehicle length direction in the vehicle length direction and the vehicle width direction to obtain intensity distributions in the vehicle width direction and the vehicle length direction, and projecting the vehicle width in the vehicle width direction. 8. The parking according to claim 7, wherein the information on the vehicle width is obtained from the number of intensity distributions in the direction or the peak position, and the information on the vehicle length is obtained from the intensity distribution of the edge in the vehicle length direction projected in the vehicle width direction. Garage management system.
を車長方向及び車幅方向に投影してその各方向のエッジ
の強度分布を求め、車長方向の投影による車幅方向のエ
ッジの強度分布から車幅に関する情報を得、車幅方向の
投影による車長方向のエッジの強度分布の本数又はピー
ク位置等から車長に関する車頭、車尾、バンパー、フロ
ントガラスの端等の情報を得ることを特徴とした請求項
７記載の駐車場管理システム。9. The presence / absence of a vehicle is identified by projecting an edge in the vehicle width direction in the vehicle length direction and the vehicle width direction to obtain an intensity distribution of the edge in each direction, and projecting in the vehicle length direction to determine the vehicle width direction. Information about the vehicle width is obtained from the edge intensity distribution, and information about the vehicle head, tail, bumper, windshield edge, etc. regarding the vehicle length is obtained from the number of edge intensity distributions in the vehicle length direction projected in the vehicle width direction or the peak position. The parking lot management system according to claim 7, wherein:
ジを車長方向に投影して車幅方向のエッジの強度分布を
求め、車幅方向のエッジを車幅方向に投影して車長方向
のエッジの強度分布を求め、車長方向の投影による車幅
方向のエッジの強度分布の本数又はピーク位置等から車
幅に関する情報を得、車幅方向の投影による車長方向の
エッジの強度分布の本数又はピーク位置等から車長に関
する車頭、車尾、バンパー、フロントガラスの端等の情
報を得ることを特徴とした請求項７記載の駐車場管理シ
ステム。10. The identification of the presence or absence of a vehicle is performed by projecting an edge in the vehicle length direction in the vehicle length direction to obtain an intensity distribution of the edge in the vehicle width direction, and projecting the edge in the vehicle width direction in the vehicle width direction. Obtain the intensity distribution of the edge in the long direction, obtain information about the vehicle width from the number of peaks or the peak position of the intensity distribution of the edge in the vehicle width direction by projecting in the vehicle length direction, and calculate the edge in the vehicle length direction by projecting in the vehicle width direction. The parking lot management system according to claim 7, wherein information about a vehicle head, a tail, a bumper, an edge of a windshield, and the like regarding a vehicle length is obtained from the number of intensity distributions or a peak position.
関する情報の少なくとも一方から識別し、車長又は車幅
が所定の範囲にあることで車両が有りと識別することを
特徴とした請求項８、請求項９又は請求項１０記載の駐
車場管理システム。11. The presence / absence of a vehicle is identified by at least one of information on vehicle width and vehicle length, and the presence of a vehicle is identified when the vehicle length or vehicle width is within a predetermined range. The parking lot management system according to claim 8, claim 9, or claim 10.
両の存在が識別されない限りその時の入力画像を基準画
像として一定時間間隔で更新することを特徴とした請求
項１記載の駐車場管理システム。12. The parking lot management system according to claim 1, further comprising a time measuring means, wherein the input image at that time is updated as a reference image at regular time intervals as a reference image unless the presence of a vehicle is identified.
差が予め定めた値より小さい場合は当該入力画像の画素
レベルを基準画像の画素レベルとし、前記予め定めた値
より大きい場合は、基準画像の画素レベルに所定の計数
を乗算した値を加算して新たな基準画像とすることを特
徴とした請求項１記載の駐車場管理システム。13. The pixel level of the input image is set as the pixel level of the reference image when the level difference between each pixel of the input image and the reference image is smaller than the predetermined value. When the difference is larger than the predetermined value, the reference level is set. The parking lot management system according to claim 1, wherein a value obtained by multiplying the pixel level of the image by a predetermined count is added to form a new reference image.
に一定時間経過したときに駐車状態とすることを特徴と
した請求項１記載の駐車場管理システム。14. The parking lot management system according to claim 1, wherein the parking lot management system is provided with a clocking means and is put in a parking state when a predetermined time has passed after the existence of the vehicle is confirmed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21203895A JPH0962842A (en) | 1995-08-21 | 1995-08-21 | Parking lot management system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21203895A JPH0962842A (en) | 1995-08-21 | 1995-08-21 | Parking lot management system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0962842A true JPH0962842A (en) | 1997-03-07 |
Family
ID=16615846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21203895A Pending JPH0962842A (en) | 1995-08-21 | 1995-08-21 | Parking lot management system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0962842A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1050866A1 (en) * | 1999-04-28 | 2000-11-08 | Matsushita Electric Industrial Co., Ltd. | Parking assistance device and method |
| JP2001073582A (en) * | 1999-09-06 | 2001-03-21 | Mitsubishi Precision Co Ltd | Vehicle existence detecting system for locking type parking area |
| JP2007504551A (en) * | 2003-09-03 | 2007-03-01 | ストラテック システムズ リミテッド | Apparatus and method for locating, recognizing and tracking a vehicle in a parking lot |
| WO2007129374A1 (en) * | 2006-04-26 | 2007-11-15 | Mitsubishi Denki Kabushiki Kaisha | Object detection device, and object detection device for elevator |
| JP2010128732A (en) * | 2008-11-27 | 2010-06-10 | Japan Traffic Management Technology Association | Apparatus for observing density in the number of vehicles and program for the same |
| JP2012027546A (en) * | 2010-07-20 | 2012-02-09 | Hitachi Kokusai Electric Inc | Parking lot monitoring system |
| JP2016014575A (en) * | 2014-07-01 | 2016-01-28 | 日本信号株式会社 | Vehicle detection device |
| JP2020067437A (en) * | 2018-10-26 | 2020-04-30 | 株式会社Ihi | Foreign matter detection method and system |
-
1995
- 1995-08-21 JP JP21203895A patent/JPH0962842A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1050866A1 (en) * | 1999-04-28 | 2000-11-08 | Matsushita Electric Industrial Co., Ltd. | Parking assistance device and method |
| JP2001073582A (en) * | 1999-09-06 | 2001-03-21 | Mitsubishi Precision Co Ltd | Vehicle existence detecting system for locking type parking area |
| JP2007504551A (en) * | 2003-09-03 | 2007-03-01 | ストラテック システムズ リミテッド | Apparatus and method for locating, recognizing and tracking a vehicle in a parking lot |
| WO2007129374A1 (en) * | 2006-04-26 | 2007-11-15 | Mitsubishi Denki Kabushiki Kaisha | Object detection device, and object detection device for elevator |
| JPWO2007129374A1 (en) * | 2006-04-26 | 2009-09-17 | 三菱電機株式会社 | Object detection device and elevator object detection device |
| JP4672658B2 (en) * | 2006-04-26 | 2011-04-20 | 三菱電機株式会社 | Object detection device and elevator object detection device |
| US8103105B2 (en) | 2006-04-26 | 2012-01-24 | Mitsubishi Electric Corporation | Object detection device, and object detection device for elevator |
| JP2010128732A (en) * | 2008-11-27 | 2010-06-10 | Japan Traffic Management Technology Association | Apparatus for observing density in the number of vehicles and program for the same |
| JP2012027546A (en) * | 2010-07-20 | 2012-02-09 | Hitachi Kokusai Electric Inc | Parking lot monitoring system |
| JP2016014575A (en) * | 2014-07-01 | 2016-01-28 | 日本信号株式会社 | Vehicle detection device |
| JP2020067437A (en) * | 2018-10-26 | 2020-04-30 | 株式会社Ihi | Foreign matter detection method and system |
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