CN105788352A - Device for guiding parking by use of depth cameras and guiding method thereof - Google Patents

Device for guiding parking by use of depth cameras and guiding method thereof Download PDF

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Publication number
CN105788352A
CN105788352A CN201610204026.7A CN201610204026A CN105788352A CN 105788352 A CN105788352 A CN 105788352A CN 201610204026 A CN201610204026 A CN 201610204026A CN 105788352 A CN105788352 A CN 105788352A
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CN
China
Prior art keywords
parking
depth
depth camera
step
current
Prior art date
Application number
CN201610204026.7A
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Chinese (zh)
Inventor
邹耀
鄢青山
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上海美迪索科电子科技有限公司
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Priority to CN201610204026.7A priority Critical patent/CN105788352A/en
Publication of CN105788352A publication Critical patent/CN105788352A/en

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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/14Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146Traffic 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

Abstract

The invention discloses a device for guiding parking by use of depth cameras. The device comprises parking space display screens, depth cameras and data processing modules arranged at the intersections of a parking lot. Each data processing module is connected with the parking space display screen and the depth camera at the same intersection as the data processing module. Each data processing module acquires and processes depth information collected by the corresponding depth camera, judges the situation in which vehicles currently passing by the corresponding intersection drive in or out of the parking lot, and updates the parking space information displayed by the corresponding parking space display screen in real time according to the vehicle in/out information. A guiding method of the device is further disclosed. Vehicle in/out is identified according to the depth information output by the depth cameras installed at the intersections of the parking lot, the parking space information of different parking areas is displayed on the parking space display screens in real time, drivers can be informed of the condition of the parking spaces in the parking lot, and drivers can be guided to park a car according to the information on the display screens.

Description

A kind of device utilizing depth camera to carry out stopping guide and bootstrap technique thereof

Technical field

The present invention relates to parking lot guidance system technical field, particularly relate to a kind of device utilizing depth camera to carry out stopping guide and bootstrap technique thereof.

Background technology

The patent No. be 201220315635.7 Chinese invention patent disclose the system of a kind of parking lot inner position vehicle, it includes N number of video monitoring equipment, at least one central control equipment and M inquiry terminal;Described N is the integer more than 1;Described M is the integer be more than or equal to 1;N number of video monitoring equipment is installed in parking lot, and arbitrary video monitoring equipment and either query terminal connect central control equipment by network;Arbitrary video monitoring equipment gathers the vehicle in its monitoring region and travels image, vehicle travels image and acquisition time and is sent to central control equipment by network;The either query terminal information of vehicles according to input, controls equipment query by network from central authorities and obtains primary importance information and second position information;Central control equipment travels image and acquisition time according to the vehicle from multiple video monitoring equipments, determine primary importance information and second position information, travelling from vehicle and extract information of vehicles image, binding information of vehicles, primary importance information and second position information also preserve;According to information of vehicles, search and export primary importance information and second position information to inquiring about terminal;Described primary importance information is the positional information of vehicle institute parking area;Described second position information is the vehicle institute stand positional information at parking area.

But, this stopping guide system utilizing visible images to carry out monocular identification easily meets with illumination variation, shade, object block and the interference of the factor such as environmental change, and environmental suitability is poor, and accuracy is unstable, and system complexity is high.

For this, applicant carried out useful exploration and trial, have found result of the above problems, technical scheme described below produces under this background.

Summary of the invention

One of the technical problem to be solved is in that: provide a kind of device utilizing depth camera to carry out stopping guide for the deficiencies in the prior art, this device adopts depth camera identification vehicle, then move and the situation different parking area vehicles while passing states of differentiation passed in and out at depth image according to vehicle, dynamically update the information of residue parking stall, parking lot, driver can guide according to display information simultaneously, is quickly found out the parking area of vacant parking stall.

The two of the technical problem to be solved are in that: provide the bootstrap technique of a kind of above-mentioned device utilizing depth camera to carry out stopping guide.

As a kind of device utilizing depth camera to carry out stopping guide of first aspect present invention, including:

Being arranged on the parking stall display screen at each crossing place in parking lot, described parking stall display screen shows the parking space information of the corresponding parking area in current parking lot;

Being arranged on each crossing place in parking lot and cover the depth camera at whole crossing, described depth camera detects the current vehicle through crossing and direction of traffic Formation Depth information in real time;And

It is arranged on the data processing module at each crossing place in parking lot, described data processing module is connected with the described parking stall display screen at same crossing place and depth camera respectively, the depth information that the described depth camera of described data processing module acquisition collects processes, judge the situation of the current vehicles while passing parking area through crossing the parking space information shown by parking stall display screen according to these vehicles while passing information real-time update.

In a preferred embodiment of the invention, the parking space information shown by the display screen of described parking stall includes current parking lot residue total space number, the residue parking stall number of current parking area, the residue parking stall number of other parking areas of parking lot and current parking area periphery parking area numbering.

As the bootstrap technique of a kind of above-mentioned device utilizing depth camera to carry out stopping guide of second aspect present invention, comprise the following steps:

Step S1, at each crossing place installation parking stall display screen in parking lot, depth camera and data processing module;

Step S2, starts all depth camera, and depth camera detects the presence of vehicle in real time through current crossing;

Step S3, when depth camera has detected that vehicle is through current crossing, the depth camera collection vehicle through current crossing and direction of traffic Formation Depth information are sent to data processing module, depth information is analyzed processing by data processing module, in order to judge this vehicle situation into and out of parking lot or parking area, and calculate parking space information;

Step S4, calculated for step S3 parking space information is sent to parking stall display screen by data processing module, updates the parking space information on the display screen of parking stall.

In a preferred embodiment of the invention, in described step S3, depth information is analyzed processing and calculating parking space information by described data processing module, comprises the following steps:

Step S31, data processing module obtains the depth information that depth camera collects;

Step S32, data processing module is analyzed judging according to depth information, if it is determined that sail current parking area into for this vehicle, the residue parking stall of this parking area subtracts one;If it is determined that roll current parking area away from for this vehicle, the residue parking stall of this parking area is for adding one;

Step S33, if current depth photographic head is the depth camera of porch, then the residue parking stall in current parking lot subtracts one;If current depth photographic head is the depth camera in exit, then the residue parking stall in current parking lot adds one;If current depth photographic head is the depth camera of crossing intersection part, then the residue parking stall in current parking lot is constant.

In a preferred embodiment of the invention, in described step S1, also including the step that depth image Sample Storehouse migrates to depth camera, this step includes following sub-step:

Step S11, adopts depth camera in advance the 3D rendering of the common multiple situation of the vehicle 3D rendering through crossing and parking lot to be acquired;

Step S12, according to the step S11 data collected, therefrom chooses and changes obvious sample action and generate vehicle difformity and depth image corresponding to size;

Step S13, derives the step S12 depth image sample generated and makes depth image Sample Storehouse;

Step S14, migrates to the depth image Sample Storehouse that step S13 makes in each depth camera.

Owing to have employed technical scheme as above, the beneficial effects of the present invention is: the depth information that the present invention exports according to the depth camera being arranged on crossing, parking lot, identify the turnover of vehicle, difference parking area parking space information is shown on the display screen of parking stall in real time, it is possible to notify that parking stall situation in driver parking lot so that driver can guide parking according to display information.Compared with the similar detection method such as traditional photographic head identification, infrared ray, RFID, ultrasound wave, there is easy construction, save the superioritys such as cost (need not each parking stall installation detecting device).

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.

Fig. 1 is the structural representation of the present invention.

Fig. 2 is the schematic layout pattern in the depth camera of the present invention and display screen layout parking lot, parking stall.

Fig. 3 is the operational process that vehicle enters the parking lot being provided with the present invention.

Fig. 4 is the flow chart of the parking space information renewal of the present invention.

Fig. 5 is the flow chart of the vehicle identification of the present invention and traffic direction identification thereof.

Fig. 6 is the depth camera detection vehicle schematic diagram through crossing of the present invention.

Detailed description of the invention

For the technological means making the present invention realize, creation characteristic, reach purpose and effect and be easy to understand, below in conjunction with being specifically illustrating, the present invention is expanded on further.

Referring to Fig. 1 and in conjunction with Fig. 2, a kind of device utilizing depth camera to carry out stopping guide of the present invention, including being arranged on the parking stall display screen 100 at each crossing place in parking lot, depth camera 200 and data processing unit 300, wherein, data processing unit 300 can be integrated in depth camera 200, naturally it is also possible to is individually configured.

Parking stall display screen 100 is for showing the parking space information of the corresponding parking area in current parking lot, referring to Fig. 3, this parking space information includes but not limited to: current parking lot residue total space number, the residue parking stall number of current parking area, the residue parking stall number of other parking areas of parking lot and current parking area periphery parking area numbering.

Depth camera 200 is arranged on the certain altitude place at crossing, referring to Fig. 6, depth camera 200 can cover the crossing of parking area, and vehicle and the direction of traffic of current process can be detected in real time, catch vehicle is enter parking area or use parking area simultaneously, when depth camera 200 detects that vehicle is through crossing, the vehicle through crossing and direction of traffic are carried out processing Formation Depth information by depth camera 200, for instance depth image.

Data processing unit 300 is connected with the parking stall display screen 100 at same crossing place and depth camera 200 respectively.Data processing unit 300 obtains the depth information that depth camera 200 collects and processes, it is judged that the situation of the current vehicles while passing parking area through crossing, and the parking space information shown by parking stall display screen according to these vehicles while passing information real-time update.

The bootstrap technique of a kind of device utilizing depth camera to carry out stopping guide of the present invention, comprises the following steps:

Step S1, at each crossing place installation parking stall display screen 100 in parking lot, depth camera 200 and data processing module 300;

Step S2, starts all depth camera 200, and depth camera 200 detects the presence of vehicle in real time through current crossing;

Step S3, when depth camera 200 has detected that vehicle is through current crossing, depth camera 200 gathers the vehicle through current crossing and direction of traffic and Formation Depth information is sent to data processing module 300, depth information is analyzed processing by data processing module 300, in order to judge this vehicle situation into and out of parking lot or parking area, and calculate parking space information;

Step S4, calculated for step S3 parking space information is sent to parking stall display screen 100 by data processing module 300, updates the parking space information on parking stall display screen 100.

Referring to giving the operational process that vehicle entrance is provided with the parking lot of the present invention in Fig. 3, figure, idiographic flow is as follows:

1, when vehicle reaches gateway 2, driver can pass through to observe the parking stall display screen D4 at entrance 2 place, it is judged that whether has parking stall in parking lot;

If the Occupied in 2 parking lots, then wait or find other parking lots;If the parking stall in parking lot less than, then can sail gateway 2 into;

3, depth camera C4 detects that vehicle comes in and goes out in real time, and meanwhile, data processing module updates the parking space information on the display screen D4 of parking stall;

If having parking stall in 4 parking area P4, driver can select in the empty parking space stopped by vehicle to the P4 of parking area, it is of course possible to by travelling after the P4 of parking area to next crossing;

5, vehicle arrives next crossing and can select craspedodrome, left-hand rotation or right-hand rotation;When vehicle selects to keep straight on, depth camera C5 detects that vehicle enters parking area P5, updates the parking space information of the parking stall display screen D4 of the parking stall display screen D5 and parking area P4 of parking area P5;When vehicle selects or turns right, its concrete kind is similar to the operation of above-mentioned craspedodrome, as shown in the broken box of Fig. 3.

6, and so on, till finding parking stall.

Additionally, in step s3, depth information is analyzed processing and calculating parking space information by data processing module 300, comprises the following steps:

Step S31, data processing module 300 obtains the depth information that depth camera 200 collects;

Step S32, data processing module 300 is analyzed judging according to depth information, if it is determined that sail current parking area into for this vehicle, the residue parking stall of this parking area subtracts one;If it is determined that roll current parking area away from for this vehicle, the residue parking stall of this parking area is for adding one;

Step S33, if current depth photographic head 200 is the depth camera of porch, then the residue parking stall in current parking lot subtracts one;If current depth photographic head is the depth camera in exit, then the residue parking stall in current parking lot adds one;If current depth photographic head is the depth camera of crossing intersection part, then the residue parking stall in current parking lot is constant.

Referring to the more new technological process giving parking space information in Fig. 4, figure, specifically include following steps:

Step 1, current crossing is detected by depth camera;

Step 2, when detecting that there is vehicle at current crossing through out-of-date, it is judged that whether this vehicle sails current parking area into, if it is determined that sail current parking area into for this vehicle, then enters step 3, otherwise enters step 8;

Step 3, the residue parking stall sum of current parking area subtracts 1;

Step 4, it is judged that whether current depth photographic head is the depth camera of porch, if it is determined that be yes, then enters step 4, otherwise enters step 6;

Step 5, the total surplus parking stall in parking lot subtracts 1;

Step 6, updates all parking stalls display screen, when current parking area residue parking stall is negative, is then shown as 0;

Step 7, vehicle enters next scene by turning left, turn right or keeping straight on, and now returns step 1;

Step 8, it is judged that whether this vehicle rolls current parking area away from, if it is determined that be yes, then enters step 9, otherwise returns step 1;

Step 9, the residue parking stall of current parking area adds 1;

Step 10, it is judged that whether current depth photographic head is the depth camera in exit, if it is determined that be yes, then enters step 11, otherwise returns step 6;

Step 11, the total surplus parking stall in parking lot adds 1, is then returned to step 6.

It addition, in step sl, also including the step that depth image Sample Storehouse migrates to depth camera, referring to Fig. 5, this step includes following sub-step:

Step S11, adopts depth camera in advance the 3D rendering of the common multiple situation of the vehicle 3D rendering through crossing and parking lot to be acquired;

Step S12, according to the step S11 data collected, therefrom chooses and changes obvious sample action and generate vehicle difformity and depth image corresponding to size;

Step S13, derives the step S12 depth image sample generated and makes depth image Sample Storehouse;

Step S14, migrates to the depth image Sample Storehouse that step S13 makes in each depth camera.

Owing to have employed technical scheme as above, the beneficial effects of the present invention is: the depth information that the present invention exports according to the depth camera being arranged on crossing, parking lot, identify the turnover of vehicle, difference parking area parking space information is shown on the display screen of parking stall in real time, it is possible to notify that parking stall situation in driver parking lot so that driver can guide parking according to display information.

The present invention adopts depth camera sampling depth image, in depth image the gray value of pixel only with the distance dependent of visual field window plane to body surface.Therefore, first depth image has spatial color independence, the impact of the factor such as illumination, shade will not be run into, secondly, the gray value of depth image and the horizontal stroke of image, vertical coordinate are combined, in certain spatial dimension, it is possible to be used for representing the object coordinate at 3d space, therefore can equivalence become in 3d space pattern recognition, it is possible to overcome and block or overlap problem.The more important thing is, the image-forming principle of depth image video camera can ensure the robustness of camera calibration well, adapts to the change of various environment, so as to easily self-regulation is again demarcated and need not measure demarcation thing.So, system research and development can more concern recognizers itself, without being too dependent on the accuracy of the front end such as demarcation work, greatly simplifie the complexity of real application systems.

The ultimate principle of the present invention and principal character and advantages of the present invention have more than been shown and described.Skilled person will appreciate that of the industry; the present invention is not restricted to the described embodiments; described in above-described embodiment and description is that principles of the invention is described; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements both fall within the claimed scope of the invention.Claimed scope is defined by appending claims and equivalent thereof.

Claims (5)

1. one kind utilizes the device that depth camera carries out stopping guide, it is characterised in that including:
Being arranged on the parking stall display screen at each crossing place in parking lot, described parking stall display screen shows the parking space information of the corresponding parking area in current parking lot;
Being arranged on each crossing place in parking lot and cover the depth camera at whole crossing, described depth camera detects the current vehicle through crossing and direction of traffic Formation Depth information in real time;And
It is arranged on the data processing module at each crossing place in parking lot, described data processing module is connected with the described parking stall display screen at same crossing place and depth camera respectively, the depth information that the described depth camera of described data processing module acquisition collects processes, judge the situation of the current vehicles while passing parking area through crossing the parking space information shown by parking stall display screen according to these vehicles while passing information real-time update.
2. utilize depth camera to carry out the device of stopping guide as claimed in claim 1, it is characterized in that, the parking space information shown by the display screen of described parking stall includes current parking lot residue total space number, the residue parking stall number of current parking area, the residue parking stall number of other parking areas of parking lot and current parking area periphery parking area numbering.
3. utilize depth camera to carry out the bootstrap technique of device of stopping guide as claimed in claim 1 or 2, it is characterised in that to comprise the following steps:
Step S1, at each crossing place installation parking stall display screen in parking lot, depth camera and data processing module;
Step S2, starts all depth camera, and depth camera detects the presence of vehicle in real time through current crossing;
Step S3, when depth camera has detected that vehicle is through current crossing, the depth camera collection vehicle through current crossing and direction of traffic Formation Depth information are sent to data processing module, depth information is analyzed processing by data processing module, in order to judge this vehicle situation into and out of parking lot or parking area, and calculate parking space information;
Step S4, calculated for step S3 parking space information is sent to parking stall display screen by data processing module, updates the parking space information on the display screen of parking stall.
4. bootstrap technique as claimed in claim 3, it is characterised in that in described step S3, depth information is analyzed processing and calculating parking space information by described data processing module, comprises the following steps:
Step S31, data processing module obtains the depth information that depth camera collects;
Step S32, data processing module is analyzed judging according to depth information, if it is determined that sail current parking area into for this vehicle, the residue parking stall of this parking area subtracts one;If it is determined that roll current parking area away from for this vehicle, the residue parking stall of this parking area is for adding one;
Step S33, if current depth photographic head is the depth camera of porch, then the residue parking stall in current parking lot subtracts one;If current depth photographic head is the depth camera in exit, then the residue parking stall in current parking lot adds one;If current depth photographic head is the depth camera of crossing intersection part, then the residue parking stall in current parking lot is constant.
5. bootstrap technique as claimed in claim 3, it is characterised in that in described step S1, also including the step that depth image Sample Storehouse migrates to depth camera, this step includes following sub-step:
Step S11, adopts depth camera in advance the 3D rendering of the common multiple situation of the vehicle 3D rendering through crossing and parking lot to be acquired;
Step S12, according to the step S11 data collected, therefrom chooses and changes obvious sample action and generate vehicle difformity and depth image corresponding to size;
Step S13, derives the step S12 depth image sample generated and makes depth image Sample Storehouse;
Step S14, migrates to the depth image Sample Storehouse that step S13 makes in each depth camera.
CN201610204026.7A 2016-04-01 2016-04-01 Device for guiding parking by use of depth cameras and guiding method thereof CN105788352A (en)

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Cited By (8)

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Publication number Priority date Publication date Assignee Title
CN106846894A (en) * 2017-03-28 2017-06-13 佛山职业技术学院 A kind of image monitoring for being applied to parking lot and guiding shutdown system
CN107274712A (en) * 2017-07-11 2017-10-20 深圳市丰巨泰科电子有限公司 One kind classification guiding shutdown system
CN109191887A (en) * 2018-08-06 2019-01-11 刘丽 Localization method and positioning system in garage based on depth recognition
CN109191890A (en) * 2018-08-10 2019-01-11 重庆唯哲科技有限公司 The garage auxiliary driving method and auxiliary system read based on depth
CN109448386A (en) * 2018-09-20 2019-03-08 刘丽 Garage Position Fixing Navigation System and its positioning navigation method
CN109544981A (en) * 2018-12-29 2019-03-29 北京百度网讯科技有限公司 Image processing method, device, equipment and medium
CN109559545A (en) * 2018-11-09 2019-04-02 歌尔股份有限公司 A kind of parking stall sharing method, system and device
CN109785664A (en) * 2019-03-05 2019-05-21 北京悦畅科技有限公司 A kind of statistical method and device of the remaining parking stall quantity in parking lot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106846894A (en) * 2017-03-28 2017-06-13 佛山职业技术学院 A kind of image monitoring for being applied to parking lot and guiding shutdown system
CN107274712A (en) * 2017-07-11 2017-10-20 深圳市丰巨泰科电子有限公司 One kind classification guiding shutdown system
CN109191887A (en) * 2018-08-06 2019-01-11 刘丽 Localization method and positioning system in garage based on depth recognition
CN109191890A (en) * 2018-08-10 2019-01-11 重庆唯哲科技有限公司 The garage auxiliary driving method and auxiliary system read based on depth
CN109448386A (en) * 2018-09-20 2019-03-08 刘丽 Garage Position Fixing Navigation System and its positioning navigation method
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CN109544981A (en) * 2018-12-29 2019-03-29 北京百度网讯科技有限公司 Image processing method, device, equipment and medium
CN109785664A (en) * 2019-03-05 2019-05-21 北京悦畅科技有限公司 A kind of statistical method and device of the remaining parking stall quantity in parking lot

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