CN105913685A - Video surveillance-based carport recognition and intelligent guide method - Google Patents
Video surveillance-based carport recognition and intelligent guide method Download PDFInfo
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- CN105913685A CN105913685A CN201610469368.1A CN201610469368A CN105913685A CN 105913685 A CN105913685 A CN 105913685A CN 201610469368 A CN201610469368 A CN 201610469368A CN 105913685 A CN105913685 A CN 105913685A
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- parking stall
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- parking
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/142—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces external to the vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
Abstract
The invention provides a video surveillance-based carport recognition and intelligent guide method. According to the method of the invention, a carport image video photographed by a surveillance camera is acquired in real time; carport coordinate data are intelligently calibrated; the carport state information is detected; and the above data are uploaded and saved to a backstage server. According to user demands, on the basis of the carport coordinates and the state information, the optimal carport is planned and the path is guided, the line is finally displayed on an electronic screen, and real-time navigation on a mobile phone terminal can be realized.
Description
Technical field
The invention belongs to digital image processing field, the parking stall relating to large parking lot identifies and guides, and is specifically related to one
Plant parking stall based on video monitoring to identify and intelligent guide method.
Technical background
Along with developing rapidly of Modern Transportation Technology and being continuously increased of automobile pollution, at some large-and-medium size cities cars
The contradiction that multidigit is few highlights day by day, causes " looking for parking stall difficulty " problem.Especially at the large parking lot of people's stream aggregation, " look for parking stall
Difficult " network operator needing user and the parking lot parked is caused puzzlement greatly.On the one hand, due to Urban spatial recourses
Finiteness, even if the scale in parking lot constantly expands, parking position yet suffers from serious breach, it is impossible to meet the need of user
Ask.On the other hand, user cannot quickly be stopped after entering parking lot, the most unordered flowing can only find vacant parking stall, not only
Come in and go out in taking field A-road resource, also easily causes traffic congestion.Therefore, managing parking field the most efficiently, carry out large-scale stopping
The parking stall in parking lot identifies and guides, and promotes the utilization rate of parking stall and to alleviate " look for parking stall difficult " problem be the key of this technology.
Parking stall identification aspect, domestic current existing method for detecting parking stalls mainly includes sound wave parking stall measure, induction coil
Parking stall measure and laser parking stall measure etc..All there is the limitation that every time can only detect a parking stall in first two method.And laser
Method for detecting parking stalls then high cost and the certain interference of existence in similar detector.
Parking stall guiding aspect, in current most domestic field, inner part of parking lot is also in the original labor management stage, needs
Manually to reconnoitre idle parking stall and be equipped with a large amount of full-time executive in parking lot, manually guide storing cycle, adding parking
Field management cost.The large parking lot of rare development maturation remains parking stall sum and car in can being explicitly indicated parking lot
Item, facilitates user to stop.But this guide can only indicate current idle parking stall to number, and does not provide the road how arriving this parking stall
Line guide so that user actual still need to take time look for this parking stall, reduce parking efficiency while losing time.
Summary of the invention
Present invention aims to the deficiencies in the prior art, it is provided that a kind of parking stall based on video monitoring identify and
Intelligent guide method.This invention, based on the intellectuality of parking system, utilizes video monitoring to gather parking condition, in conjunction with image
Process and identify idle parking stall, guide vehicle quickly to sail finally by intelligent guidance system and reach suitable parking stall, to promote effect of parking
Rate the problem alleviating " looking for parking stall difficulty ".
For realizing above-mentioned target, the present invention adopts the following technical scheme that, comprises the following steps:
1), video image acquisition: by monitoring camera captured in real-time capture parking stall image/video in parking lot.
2), parking space state detecting step: the parking stall in intelligent extraction video image and information of vehicles, analyze and judge parking stall
The most occupied, parking stall busy-idle condition is sent to background server.
3), parking space state information management: parking position status information storehouse is set up on backstage, relevant to real-time parking space state
Connection, enters the foundation in room as subsequent boots vehicle.
4), vehicle guides: with parking stall occupancy and the shortest stopping distance as Main Basis, and planning is most preferably stopped route,
At electronic large screen and mobile phone terminal equipment simulating, guiding in real time car owner quickly arrives appointment parking stall.
The present invention compared with prior art, has following obvious prominent substantive distinguishing features and notable technology is entered
Step: it is many that the method for the present invention can monitor parking stall, discrimination is high, is independent of manual intervention, not plus external equipment, at common prison
Can realize under control photographic head, decrease the management cost in parking lot.Meanwhile, the introducing of system is guided to meet user real
The demand that Shi Gaoxiao stops, improves the management level in parking lot.
Accompanying drawing explanation
Fig. 1 is the flow chart of the present invention.
Fig. 2 is the parking stall measure flow chart of the present invention.
Fig. 3 is the vehicle occupy-place decision flow chart of the present invention.
Detailed description of the invention
The present invention is further described below in conjunction with accompanying drawing and preferred embodiment.
Embodiment one: see Fig. 1～Fig. 3, this parking stall based on video monitoring identifies and intelligent guide method, and its feature exists
In, comprise the steps:
1), video image acquisition: monitoring camera captured in real-time collecting vehicle bit image video in parking lot.
2), parking space state detection: the parking stall in intelligent extraction video image and information of vehicles, it is judged that parking stall is the most occupied
With, and busy-idle condition is sent to background server.
3), parking space state information management: parking position status information storehouse is set up on backstage, relevant to real-time parking space state
Connection, enters the foundation in room as subsequent boots vehicle, shows empty parking space quantity information at Entrance simultaneously, points out car owner
Parking reference.
4), vehicle guides: with parking stall occupancy and the shortest stopping distance as Main Basis, and planning is most preferably stopped route,
At electronic large screen and mobile phone terminal equipment simulating, guiding in real time car owner quickly arrives appointment parking stall.
Embodiment two: see Fig. 1, Fig. 2 and Fig. 3, this parking stall based on video monitoring identifies and intelligent guide method, specifically
Operating procedure is as follows:
Step 1: video image acquisition
At parking lot anchor points, monitoring camera is installed according to quantity and the spatial distribution state of parking stall in parking lot.Monitoring is taken the photograph
Region as captured by head need to comprise multiple parking stall, and relative position and the shooting visual angle between photographic head can be according to light, reality
Environment etc. are adjusted.
Step 2: parking space state detecting step:
Parking space state detecting step mainly comprises parking stall location position, and vehicle occupy-place judgement and vehicle cab recognition are classified three aspects.Mesh
Be detection parking space state, it is simple to the guiding of follow-up warehouse-in vehicle and management.
(1), parking stall location position
First monitoring camera shoots and captures one section of empty car park areas video without vehicle, owing to camera position is basic
Holding immobilizes, and therefore arbitrarily obtains a two field picture from this video-frequency band, just can be to the parking stall coordinate in all two field pictures
Demarcate.If photographic head to be carried out position adjustment, then need recapture video and demarcate parking stall.
Using semiautomatic fashion to demarcate position, parking stall, process is as follows: manually choosing from the two field picture extracted can
Four points (i.e. four angles of parking stall) of reaction parking stall positional information, and can be hooked from image by the method for structure tetragon
Draw the profile information of parking stall.
Seeing Fig. 1, shown parking stall measure flow chart has been used for the automatic Calibration to position, parking stall.
As the prioritization scheme to parking stall location position process, first the two field picture extracted is carried out pretreatment, mainly
It is rim detection, to obtain the gray level skeleton of image and to obtain roughly the marginal information of parking stall；Straight line letter is extracted again from profile
Breath, just can get parking stall marginal information the most accurately after being merged by straight line of the same clan；Finally parking stall marginal information is processed,
Obtain the intersecting point coordinate of parking stall.
(2), vehicle occupy-place judges
Seeing Fig. 2, shown vehicle occupy-place decision flow chart is for dividing vehicle from video image and judges that parking stall is the most idle.
Keep photographic head to maintain static, be continuously shot and monitor.The video image arriving Real-time Collection is first with a timing
Between interval carry out frame segmentation, then the two field picture obtained after segmentation is carried out respectively with the aforementioned image only containing parking stall (without vehicle)
Pretreatment, to eliminate the interference that photographic head self shake and dark, the shade change of parking lot flash illumination etc. bring.Preprocessing process
Mainly include the step such as image smoothing, histogram equalization.
In conjunction with background subtraction method thought, will only contain the image on parking stall (without vehicle) as background, be obtained by Video segmentation
Two width images, as the image of band prospect, are done difference operation by the two field picture containing vehicle arrived.After difference operation, vehicle body is bright, background
Secretly, vehicle's contour is more apparent, in order to the extraction segmentation of subsequent vehicle.
Image after doing difference operation is done adaptive threshold binary conversion treatment, divides the image into black (pixel value 0) and white (pixel
Value 255) two kinds of colors.Again by opening operation, first corroding, it is bright that the rear method removal expanded brings owing to background noise disturbs
Details.
Further image after opening operation is done denoising, eliminate miscellaneous spot noise, and the target vehicle (white that will extract
The main distributed areas of pixel) carry out image completion, using the first and last white pixel point of each row and column as border, border is produced
Enclosed region fill white.Detected by edge contour again and split and target vehicle is split.
Ask for the threshold value for judging vehicle whether occupy-place.It is flat that calculating stock car is normally parked under floor projection
All area and ratio of whole parking stall area, as threshold value.
The key coordinate point being partitioned into vehicle coverage in the picture and institute's labelling is divided by parking stall line with aforementioned
The region, parking stall obtained compares.
The area coverage asking for being partitioned into vehicle accounts for the ratio of whole parking stall size, compares with aforesaid threshold values, greatly
Then think that covered parking stall is occupied in this threshold value, then think that this parking stall is idle less than this threshold value.For further ensuring that parking stall is
The no free time, also need to consider the position of key point coordinate, the erroneous judgement caused in not parking online due to vehicle with minimizing.Example
As: when intersection off-position occurs in vehicle, covers parking stall line and parks across two parking stalls, recalculate the big of clear area, parking stall
Little to determine whether room remains.
Parking stall busy-idle condition data are sent to background server, refreshes parking space information in real time, in order to subsequent navigation function
Realization.
(3), vehicle cab recognition classification
The vehicle being parked in parking stall that previous segmentation is i.e. gone out by vehicle cab recognition process carries out vehicle differentiation, in order to get rid of due to not
Bright thing is placed on the interference that parking stall is brought, such as: due to the car that foreign material are banked up, crowd massing, market shopping car are parked etc. causes
Bit stealing.
Vehicle cab recognition process is by extracting the various features relevant to vehicle, such as shape, edge or the feature of gray scale: long
Square, gray scale and the difference etc. of background, use suitable grader to classify.The most excellent as vehicle type classification method
Changing, can be learnt by the degree of depth, to the substantial amounts of large, medium and small type car sample of computer, Automatic-searching character representation is classified automatically.
After classification terminates, if there being the not clear thing in addition to large, medium and small type car to be placed on parking stall, it indicates that alert and send phase
Pass personnel remove.
Step 3: parking space state information management
Parking position status information storehouse is set up on backstage, is associated with real-time parking space state, enters sky as subsequent boots vehicle
At Entrance, the foundation of position, simultaneously shows that empty parking space quantity information, prompting car owner stop reference.
Step 4: vehicle guides step
The status information of parking stall is obtained by said method.Effective parking can be provided to draw for the follow-up vehicle that will put in storage
Lead, according to the entry position of warehouse-in vehicle, it is provided that the optimal parking path planning on closest parking stall.
In terms of vehicle guiding, vehicle guide system is to be designed based on shortest path first.Parking shortest path,
Be intuitively from Entrance position to the target carriage distance of positions from the shortest path.According to putting the dissimilar of vehicle in storage, arrange
Different destination regions.When there being multiple idle parking stall, system provides the parking space information nearest away from porch to go forward side by side walking along the street footpath
Planning and navigation.When wrong deviation navigation way sailed by vehicle, according to vehicle present position, reselect from current location
Near idle parking stall, navigates in new planning path of laying equal stress on.When vehicle is travelling to way, parking stall, and the most idle parking stall occurs
Changing, guidance path will be changed to recently idle parking stall by system, and update in vehicle management data base information of vehicles table and
Parking space information table.
In view of the key of raising parking lot efficiency, it is that each car can berth with the shortest time, i.e. finds
The parking stall shorter than stopping distance, the shortest parking stall down time is even more important.As optimizing vehicle guide system, introduce
Shortest time algorithm improves.Different time sections travels at road vehicle variable number, and distance between two points is the shortest not
Represent running time the shortest.When shortest path vehicle is more, when occurring blocking up, the path that distance is longer will be the shortest.Excellent
Change vehicle guide system in algorithm and introduce this variable of road traffic intensity in parking lot, for expressing the weighted value of road,
Thus embody road congestion conditions.And in the above-mentioned methods, the weight of road is 1.By giving difference power to different road
Value, the road more blocked up gives higher weights, obtains storing cycle shortest path in COMPREHENSIVE CALCULATING.
According to user's request, park parking stall and the route planned is represented by electronic large screen and mobile phone A pp by anticipated
To user, user can substantially be known orientation route by giant-screen also can cause corresponding parking stall by mobile phone A pp real-time navigation, stand-by
Parking space information is refreshed after smoothly completing parking by family.
Although above the detailed description of the invention of the present invention being described, in order to those skilled in the art manage
Solve the present invention, it should be apparent that the invention is not restricted to the scope of detailed description of the invention, to those skilled in the art
From the point of view of, as long as various change limits and in the spirit and scope of the present invention that determine, these changes are in appended claim
It will be apparent that all utilize the innovation and creation of present inventive concept all at the row of protection.
Claims (9)
1. a parking stall based on video monitoring identifies and intelligent guide method, it is characterised in that comprise the steps:
1), video image acquisition: monitoring camera captured in real-time collecting vehicle bit image video in parking lot；
2), parking space state detection: the parking stall in intelligent extraction video image and information of vehicles, it is judged that parking stall is the most occupied, and
Busy-idle condition is sent to background server；
3), parking space state information management: parking position status information storehouse is set up on backstage, is associated with real-time parking space state, makees
The foundation in room is entered for subsequent boots vehicle；
4), vehicle guides: with parking stall occupancy and the shortest stopping distance as Main Basis, and planning is most preferably stopped route, at electricity
Sub-giant-screen and mobile phone terminal equipment simulating, guiding in real time car owner quickly arrives appointment parking stall.
2. identify and intelligent guide method according to the parking stall based on video monitoring described in claims 1, it is characterised in that institute
State monitoring camera described in step (1) video image acquisition and be mostly installed at inner part of parking lot region, for real-time capture car
Position state, in order to follow-up parking space state detects.
3. identify and intelligent guide method according to the parking stall based on video monitoring described in claims 1, it is characterised in that institute
Stating step (2) parking space state detecting step and include (2-1) parking stall location position, (2-2) vehicle occupy-place judges and (2-3) vehicle is known
Fen Lei three little steps.
4. identify and intelligent guide method according to the parking stall based on video monitoring described in claims 3, it is characterised in that institute
State step (2-1) parking stall location position: the empty car park areas Computer Vision to monitoring camera shooting, demarcate position, parking stall
Put；Tetragon can be built by artificial reconnaissance or the two field picture extracted carried out pretreatment and detects edge, from edge contour
Middle extraction straight line information, merges and elongates straight line of the same clan, obtaining the intersecting point coordinate of parking stall.
5. identify and intelligent guide method according to the parking stall based on video monitoring described in claims 3, it is characterised in that institute
State step (2-2) vehicle occupy-place to judge: stop in region to be detected and described shooting sky to the shooting of monitoring camera same position
The two field picture of field areas video processes, it is judged that parking stall is the most occupied；
Respectively above-mentioned two video frame images are done smoothing processing, to eliminate owing to bright and dark light, shadow interference and background change are produced
Raw interference；
Again by two image subtractions, and doing binary conversion treatment to doing after the recovery image, background area pixels value is set to 0, prospect vehicle picture
Element value is set to 255, only contains the image of vehicle with preliminary acquisition；After binary conversion treatment, vehicle body is white, and background is black, but still suffers from some
Bright detail, does opening operation again, first expands post-etching it；Finally use transverse and longitudinal to fill to be closed by vehicle body image, and pass through
Rim detection is extracted and is closed body outline；
Being split by vehicle body according to marginal information, the vehicle area asking for being partitioned into accounts for the ratio of whole parking stall size, by this ratio
Value is with set threshold ratio relatively, occupied more than threshold value then parking stall, the most idle less than threshold value.
6. identify and intelligent guide method according to the parking stall based on video monitoring described in claims 3, it is characterised in that institute
State the classification of step (2-3) vehicle cab recognition: vehicle vehicle cab recognition in place is classified, to get rid of owing to not clear thing is placed on the dry of parking stall
Disturbing, vehicle characteristics value the method identification classified by grader are extracted in main employing, optimize further with degree of depth study.
7. identify and intelligent guide method according to the parking stall based on video monitoring described in claims 1, it is characterised in that institute
State step (4) vehicle to guide, be provided with the stopping guide of effect for warehouse-in vehicle.
8. identify and intelligent guide method according to the parking stall based on video monitoring described in claims 7, it is characterised in that institute
State the stopping guide in step (4), meet vehicle for warehouse-in vehicle reasonable arrangement, closest, can complete within the shortest time
The optimal parking stall berthed, planning arrives the route of this parking stall, shows route in electronic large screen and mobile phone A pp.
9. identify and intelligent guide method according to the parking stall based on video monitoring described in claims 8, it is characterised in that institute
Stating stopping guide in step (4), described mobile phone A pp can provide the user real-time navigation function, on the one hand according to peace during warehouse-in
The parking circuit of row navigates, and on the other hand, when user deviates route or optimal position, parking stall changes, system can weight
New planning route also navigates.
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