CN106541944A - A kind of warehouse compartment detection method, system and mobile device - Google Patents
A kind of warehouse compartment detection method, system and mobile device Download PDFInfo
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- CN106541944A CN106541944A CN201610976121.9A CN201610976121A CN106541944A CN 106541944 A CN106541944 A CN 106541944A CN 201610976121 A CN201610976121 A CN 201610976121A CN 106541944 A CN106541944 A CN 106541944A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- 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
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
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Abstract
The present invention provides a kind of warehouse compartment detection method, system and mobile device, according to the image that an at least photographic head shoots, forms the image of the certain viewing angles with regard to the mobile device；The all straight lines being in extracting described image in the possibility warehouse compartment region near the mobile device；According to default warehouse compartment feature, the effective straight line in all straight lines is extracted as warehouse compartment line, each warehouse compartment positional information in the possible warehouse compartment region is obtained according to the warehouse compartment line.The straight line in warehouse compartment region in the image that photographic head is shot by the present invention is compared with warehouse compartment feature, extracts warehouse compartment positional information, and then can accurately orient the position of warehouse compartment, to provide assistance as automatic parking.
Description
Technical field
The present invention relates to automatic Pilot field, more particularly to a kind of warehouse compartment detection method, system and mobile device.
Background technology
With the development of automotive automation technology, existing method for detecting parking stalls is by ultrasonic ranging in the market
The change of the distance of obstacle car on the vehicle distances warehouse compartment of radar surveying traveling, so as to identify the warehouse compartment between obstacle car.This
Plant the detection parking bit comparison of warehouse compartment detection technique delayed, when spacious parking lot, ultrasound wave cannot judge concrete parking
Position where；And when parking stall is sideling to arrange, ultrasound wave is difficult the warehouse compartment for accurately judging sideling to arrange, when car is through storehouse
When position, if parking stall line is lived by the car bumper of adjacent parking stall, ultrasound wave will be examined and not measure this because barrier is detected
It is a parking stall.So there is certain limitation using ultrasound examination warehouse compartment.
Based on this, it is necessary to provide a kind of more effective warehouse compartment detection method, can more effectively recognize warehouse compartment, be automobile
Park offer assistance.
The content of the invention
The shortcoming of prior art in view of the above, it is an object of the invention to provide a kind of warehouse compartment detection method, system,
And mobile device, inaccurate problem is detected for solving warehouse compartment in prior art.
For achieving the above object and other related purposes, the present invention provides a kind of warehouse compartment detection method, is applied to have extremely
On the mobile device of a few photographic head, the warehouse compartment detection method includes：According to the image that the photographic head shoots, formed and closed
In the image of the certain viewing angles of the mobile device；The possibility warehouse compartment area being in extracting described image near the mobile device
All straight lines in domain；According to default warehouse compartment feature, the effective straight line in all straight lines is extracted as warehouse compartment line, with root
The each warehouse compartment positional information in the possible warehouse compartment region is obtained according to the warehouse compartment line.
In a specific embodiment of the invention, the warehouse compartment detection method also includes：The image shot by the photographic head
Pretreatment is carried out, the image with regard to the mobile device is formed according to pretreated image；The pretreatment at least include with
One kind under type：Mode one：Noise is removed to the image that each photographic head shoots；Mode two：According to default demarcation
Correction rule carries out demarcation correction to the image that each photographic head shoots；Mode three：The image shot by each photographic head
Carry out cutting, piece together and video smoothing process.
In a specific embodiment of the invention, the possibility warehouse compartment region near the mobile device is included positioned at the movement
Region in the left side predeterminable range of equipment, the region in the right side predeterminable range of the mobile device, positioned at the shifting
Dynamic equipment front preset distance in region, the region in the rear predeterminable range of the mobile device, positioned at described
Region in the left front predeterminable range of mobile device, the region in the right front predeterminable range of the mobile device, position
Region or/and the right back predeterminable range positioned at the mobile device in the left back predeterminable range of the mobile device
Interior region..
In a specific embodiment of the invention, the warehouse compartment feature at least includes one or more in following characteristics：It is special
Levy one：Default warehouse compartment shape；Feature two：Warehouse compartment is by two parallel lines and a vertical line or special angle rectilinear(-al), institute
The spacing between parallel lines is stated in default warehouse compartment length range；Feature three：The straight line of composition warehouse compartment and the gray scale difference in other regions
Value is more than default gray scale difference value threshold value；Feature four：The shape of adjacent warehouse compartment is identical；Feature five：Warehouse compartment is by two relative lines and
Bar intersecting lens is constituted, and the spacing between the relative line is in default warehouse compartment length range；The relative line and the intersecting lens
Angle is in the range of predetermined angle.
In a specific embodiment of the invention, the warehouse compartment detection method also includes：According to the warehouse compartment positional information, carry
The physical location information at least two summits of the warehouse compartment is taken, and according to the physical location information at least two summit,
Corresponding warehouse compartment figure is shown in default interactive interface.
For achieving the above object and other related purposes, the present invention also provides a kind of warehouse compartment detecting system, is applied to have
On the mobile device of at least one photographic head, the warehouse compartment detecting system includes the process dress being connected with photographic head communication
Put, the processing meanss include：Image forming module, to the image shot according to all photographic head, forms with regard to institute
State the image of the certain viewing angles of mobile device；Lines detection module, forms module communication with described image and is connected, to extract
The all straight lines being in stating image in the possibility warehouse compartment region near the mobile device；Warehouse compartment position information acquisition module,
It is connected with lines detection module communication, according to default warehouse compartment feature, to extract effective straight in all straight lines
Line obtains each warehouse compartment positional information in the possible warehouse compartment region according to the warehouse compartment line as warehouse compartment line.
In a specific embodiment of the invention, the processing meanss also include：Warehouse compartment image display module, with the warehouse compartment
Position information acquisition module communication is connected, and according to the warehouse compartment positional information, extracts the thing at least two summits of the warehouse compartment
Reason positional information, and according to the physical location information at least two summit, show corresponding in default interactive interface
Warehouse compartment figure.
In a specific embodiment of the invention, the warehouse compartment detecting system also includes：Memory module, with the processing meanss
In warehouse compartment position information acquisition module communication be connected, be stored with the default warehouse compartment feature；The warehouse compartment feature is at least wrapped
Include one or more in following characteristics：Feature one：Default warehouse compartment shape；Feature two：Warehouse compartment is by two parallel lines and one
Vertical line or special angle rectilinear(-al), the spacing between the parallel lines is in default warehouse compartment length range；Feature three：Composition storehouse
The straight line of position is with the gray scale difference value in other regions more than default gray scale difference value threshold value；Feature four：The shape of adjacent warehouse compartment is identical；It is special
Levy five：Warehouse compartment is made up of two relative lines and an intersecting lens, and the spacing between the relative line is in default warehouse compartment length range；
The angle of the relative line and the intersecting lens is in the range of predetermined angle.
For achieving the above object and other related purposes, the present invention also provides a kind of mobile device, takes the photograph with least one
As head and the controller with photographic head communication connection, the controller to receive the image that the photographic head shoots,
And the controller is run just like the warehouse compartment detection method described in upper any one.
The mobile device is automobile or smart mobile phone.
For achieving the above object and other related purposes, the present invention also provides a kind of warehouse compartment detection method, the warehouse compartment inspection
Survey method includes：The all straight lines being in extracting an image in the possibility warehouse compartment region near mobile device；According to default
Warehouse compartment feature, extracts the effective straight line in all straight lines as warehouse compartment line, obtains the possible storehouse according to the warehouse compartment line
Each warehouse compartment positional information in the region of position.
As described above, the warehouse compartment detection method of the present invention, system and mobile device, according to the image that photographic head shoots, shape
Into the image of the certain viewing angles with regard to the mobile device；The possibility storehouse being in extracting described image near the mobile device
All straight lines in the region of position；According to default warehouse compartment feature, the effective straight line in all straight lines is extracted as warehouse compartment line,
So that each warehouse compartment positional information in the possible warehouse compartment region is obtained according to the warehouse compartment line.The figure that photographic head is shot by the present invention
The straight line in the warehouse compartment region as in is compared with warehouse compartment feature, extracts warehouse compartment positional information, and then can be accurate
The position of warehouse compartment is oriented, assistance is provided as automatic parking.
Description of the drawings
Fig. 1 is shown as the warehouse compartment detection method schematic flow sheet in one embodiment of the present invention.
Fig. 2 is shown as interactive interface display schematic diagram in a specific embodiment of the present invention.
The warehouse compartment type schematic diagram that Fig. 3 is applied in being shown as a specific embodiment of the invention.
The warehouse compartment type schematic diagram that Fig. 4 is applied in being shown as a specific embodiment of the invention.
Fig. 5 is shown as the warehouse compartment detecting system module diagram in one embodiment of the present invention.
Component label instructions
10 methods
11～13 steps
21 automobiles
22 left fields
23 right side areas
24 warehouse compartment figures
30 warehouse compartment detecting systems
31 processing meanss
311 image forming modules
312 lines detection modules
313 warehouse compartment position information acquisition modules
32 memory modules
Specific embodiment
Embodiments of the present invention are illustrated below by way of specific instantiation, those skilled in the art can be by this specification
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through concrete realities different in addition
The mode of applying is carried out or applies, the every details in this specification can also based on different viewpoints with application, without departing from
Various modifications and changes are carried out under the spirit of the present invention.It should be noted that, in the case where not conflicting, following examples and enforcement
Feature in example can be mutually combined.
It should be noted that the diagram provided in following examples only illustrates the basic structure of the present invention in a schematic way
Think, the component relevant with the present invention is only shown in illustrating then rather than according to component count during actual enforcement, shape and size
Draw, which is actual when the implementing kenel of each component, quantity and ratio can be a kind of random change, and its assembly layout kenel
It is likely more complexity.
Effectively warehouse compartment detection, can preferably aid in the operation of automated parking system, existing warehouse compartment generally to have mark
The straight line of warehouse compartment profile, it is possible to which warehouse compartment is found out by the straight line of detection warehouse compartment profile.Fig. 1 is specifically referred to, is shown
For warehouse compartment detection method of the invention schematic flow sheet in one embodiment.The warehouse compartment detection method 10, is applied to
On mobile device with least one photographic head, the mobile device is, for example, an automobile or smart mobile phone, below with described
To illustrate as a example by automobile, the warehouse compartment detection method 10 includes mobile device：
11：The image that the photographic head according at least shoots, forms the image of the certain viewing angles with regard to the automobile；Institute
State certain viewing angles to be determined according to factors such as the installation sites of the type of photographic head and photographic head, can be with according to user's
Demand carries out the adjustment of image aspects, for example, only form the image of the right side perspective with regard to the automobile, and for example only form pass
In the image of the left side perspective of the automobile.And in the description of the embodiments below, the image with certain viewing angles be include it is described
Illustrate as a example by the vertical view panoramic picture with regard to the automobile on the front side of automobile, rear side, left side and right side, with regard to institute
The vertical view panoramic picture for stating automobile is, for example, that, shown in Fig. 2, the automobile 21 is in parking lot.And in concrete application, in root
Before the vertical view panoramic picture with regard to the automobile is formed according to the image that the photographic head shoots, also include clapping the photographic head
The image taken the photograph carries out the process of pretreatment, and the pretreatment at least includes the one kind in the following manner：
Mode one：Noise is removed to the image that each photographic head shoots；
Wherein, the digital picture in reality is subjected to imaging device and external environmental noise in digitized and transmitting procedure
Interference etc. affects, referred to as noisy image or noise image.The process for reducing noise in digital picture is referred to as image denoising.
Noise is the major reason of image interference.One images there may be various noises in actual applications,
These noises may be produced in the transmission, it is also possible to produce in quantization etc. is processed.Can be by which according to the relation of noise and signal
It is divided into three kinds of forms：(f (x, y) represents given original picture, and g (x, y) presentation image signal, n (x, y) represent noise.
1) additive noise：This noise like is unrelated with input image signal, noisy image be represented by f (x, y)=g (x, y)+
The noise produced during the camera-scanning image of n (x, y), interchannel noise and vidicon just belongs to this noise like.
2) multiplicative noise：This noise like is relevant with picture intelligence, noisy image be represented by f (x, y)=g (x, y)+n (x,
Y) g (x, y), noise during flying spot scanner scanned picture, the correlated noise in TV image, the grain noise in film just belong to
In this noise like.
3) quantizing noise：This noise like is unrelated with input image signal, is that quantizing process has quantization error, then reflects
Receiving terminal and produce.
Generally image denoising wave filter includes following several：
1st, mean filter
It is highly suitable for removing using the mean filter of neighborhood averaging and is made an uproar by scanning the granule in the image for obtaining
Sound.Field averaging method effectively inhibits noise, and as well as averagely blooming is caused, fog-level is with field partly
Footpath is directly proportional.
The smoothness reached by geometric mean wave filter can be compared with arithmetic equal value wave filter.But the meeting in filtering
Lose less pictorial detail.Harmonic wave mean filter is more preferable to " salt " noise effects, but is not suitable for " Fructus Piperiss " noise.It
It is good at processing other noises as Gaussian noise.Inverse harmonic wave mean filter is more suitable for processing impulsive noise.But it has
Individual shortcoming, exactly must be it is to be understood that noise be dark noise or bright noise.In order to select suitable filter order numerical symbol, such as
The symbol of fruit exponent number has selected may cause catastrophic consequence wrong.
2nd, adaptive wiener filter
It can adjust the output of wave filter according to the local variance of image, and local variance is bigger, the smooth work of wave filter
With stronger.Its final goal be make recovery image f^ (x, y) and original image f (x, y) mean square error e2=E [(f (x,
Y)-f^ (x, y) 2] it is minimum.The filter effect of the method is better than mean filter effect, to retain image edge and other
HFS is very useful, but amount of calculation is larger.Wiener filter is to the imaging filtering best results with white noise.
3rd, median filter
It is a kind of conventional Nonlinear Smoothing Filter.Its ultimate principle be in digital picture or Serial No. a bit
Value with the intermediate value of each point value in a field of the point replace its major function be allow surrounding pixel gray value difference than larger
Pixel change to take the value being close to the pixel value of surrounding.Such that it is able to eliminate isolated noise spot, so medium filtering is for filter
Except the salt-pepper noise of image it is highly effective.Median filter can accomplish the edge for not only having removed noise but also having protected image.So as to
Obtain relatively satisfactory recovery effect.And, the statistical property of image is not needed during actual operation.This also brings many sides
Just, it is but many to some details.The method that particularly the more image of point, line, pinnacle details should not adopt medium filtering.
4th, morphology scratch filter
To open and closure will combine and can be used to filter noise, it is first to there is noisy image to carry out unlatching operation, optional
Select structural element matrix bigger than the size of noise, thus the result opened is by the noise remove in background.It is finally to previous
The image that step is obtained carries out closed procedure, and the noise on image is removed.According to the characteristics of the method it is recognised that the method is suitable
Image type is object size in image all than larger.And there is no tiny details, to such scene image partition
Effect can be relatively good.
5th, Wavelet Denoising Method
This method remains most of wavelet coefficient comprising signal, therefore can preferably keep pictorial detail.It is little
Wave analysiss carry out image denoising mainly 3 steps：
(1) wavelet decomposition is carried out to picture intelligence；
(2) threshold value quantizing is carried out to the high frequency coefficient after hierachical decomposition；
(3) using 2-d wavelet reconstructed image signal.
Mode two：Demarcation correction is carried out to the image that each photographic head shoots according to default correction rule of demarcating；
Mode three：Cutting is carried out to the image that each photographic head shoots, is pieced together and video smoothing process.Image mosaic
Exactly a series of pictures for mutually overlapping for Same Scene is synthesized the image of a big wide viewing angle.After splicing
Image request farthest with original image be close to, distortion is as little as possible, no obvious stitching thread.
The property of original image is the most important factor for affecting merging algorithm for images, and the mode that original image is obtained is different,
Image integrity matter also has very big difference, needs using different stitching algorithms.The one kind of the present invention from following connecting method
Carry out the splicing of image：
I) cylinder/sphere/cubic panorama splicing
The intermediate scheme of panorama sketch mainly has spherical panoramic image, Cylindrical panoramic image and cubic panorama.Cylindrical panoramic image
Easily obtain, the scene of any sight can be generated, but it is restricted to the ken of vertical direction；The complete earth's surface of spherical panoramic image energy is whole
View space, but the scene torsional deformation at the two poles of the earth can be caused；Cubic panorama is typically by the picture group that 6 width Radix Rumiciss are 90 °
Into, it is easy to the storage of data, it is easy to show, is mainly used in three-dimension virtual reality field..
Cylinder model is the Panoramagram montage model for most generally adopting, and the method requirement camera is around vertical rotation axis (such as three feet
Frame) make to horizontally rotate.After projecting image onto on a unified cylinder, Bonding Problem is translated between cylinder epigraph
Translation problem.The concentric circular stitching algorithm of the propositions such as Heung2YeungShum is a kind of method for depending on camera parameter.Should
Algorithm is considered as the variation of cylinder model.
II) the splicing based on perspective transform
Motion of the splicing of perspective transform to camera does not have strict restriction.But in order to prevent the appearance of parallax, it is desired to quilt
The scenery of shooting is an approximate plane, and in shooting, subject distance camera far can be considered as plane it enough.When what is obtained
It is the fragmentation pattern picture for putting in order unknown, or the motion mode of camera is unknown, can adopt this model.
III) the splicing based on affine transformation
Affine transformation is approximate frequently as the one kind based on perspective transform panorama sketch, camera tilt angles degree is little, focal length foot
Preferable matching result affine transformation can be obtained when enough big to be defined on continuous image.
IV) the image mosaic based on image retrieval
With CBIR method carry out image mosaic be it is a kind of combine image data base, image retrieval,
The joining method of the technologies such as pattern recognition.Artwork is divided into many fritters first, then to each fritter, from image data base
Find image visually most close therewith.The image selected from data base is constituted one greatly with substitution method finally
Figure.
12：The all straight lines being in extracting described image in the possibility warehouse compartment region near the mobile device；It is described
Possibility warehouse compartment region near mobile device includes region in the left side predeterminable range of the mobile device, positioned at described
Region in the right side predeterminable range of mobile device, the region in the front preset distance of the mobile device, positioned at institute
State the region in the rear predeterminable range of mobile device, the region in the left front predeterminable range of the mobile device, position
In the region in the right front predeterminable range of the mobile device, the area in the left back predeterminable range of the mobile device
Domain or/and the region in the right back predeterminable range of the mobile device.For example in the present embodiment, set with the movement
Standby neighbouring possibility warehouse compartment region includes the region in the left side predeterminable range of the mobile device and is located at the movement
Illustrate as a example by region in the right side predeterminable range of equipment, and the area in the left side predeterminable range of the mobile device
Domain and the region in the right side predeterminable range of the mobile device are respectively the left field 22 of automobile 21 as shown in Figure 2
And right side area 23, and only detect the straight line in the region.
Preferably, by hough change detections and extract the possibility storehouse in the panoramic picture near the automobile
All straight lines in the region of position.Hough transform is a kind of parameter estimation techniques using voting principle.Its principle is to utilize image
Space and the point-line duality of Hough parameter spaces, are transformed into parameter space the test problems in image space.By
Simple cumulative statistics is carried out in parameter space, the method detection of straight lines of accumulator peak value is then found in Hough parameter spaces.
The essence of Hough transform is to cluster the pixel with certain relation in image space, and searching can use certain these pixels
The parameter space accumulation corresponding point that one analytical form is connected.In the case where parameter space is less than two dimension, this conversion
There is preferable effect.
Included by the principle of hough change detection straight lines：For the straight line in plane, in cartesian coordinate system
In, common are point slope form, two kinds of method for expressing of two point form.But hough conversion in, it is considered to be another expression side
Formula：Use (r, theta) to represent straight line.Wherein r is distance of the straight line to origin, and theta is the vertical line of the straight line
With the angle of x-axis.Become using hough and bring the thought of detection of straight lines and be exactly：The straight line in n direction is assumed for each point, lead to
Normal n=180, the angle precision of the straight line for now detecting is 1 °, calculates (r, theta) coordinate of this n bar straight line respectively, obtains n
Individual coordinate points.If point to be judged has N number of, (r, the theta) coordinate for finally giving has N*n.Relevant this N*n (r,
Theta) coordinate, wherein theta are discrete angles, have 180 values.If multiple points are point-blank, then must
There is this multiple point in certain value theta_i of theta=, the r approximately equals of this multiple point are in r_i.That is this multiple point
All on straight line (r_i, theta_i).In actual straight-line detection situation, if it exceeds the point of certain amount possesses identical
(r, theta) coordinate, then it is determined that there is straight line herein.
The method of the straight-line detection can also be to carry out straight line inspection using method of least square in another specific embodiment
Survey, or combine random Hough transformation (RHT) noise resisting ability characteristic high with method of least square (LSM) fitting precision by force,
Straight-line detection, or other line detection algorithms are carried out based on random Hough transformation and method of least square.The straight-line detection side
Method can be used for the image that background noise relatively strong and straight line has certain bending, and accuracy of detection is high.First, use random Hough transformation
Determine the approximate location of straight line, obtain straight line parameter and quantity；Then, using gained straight line parameter, the point calculated in image is arrived
The distance of straight line, according to distance, it may be determined that the point set near every straight line, rejects noise spot and noise；Finally, use a most young waiter in a wineshop or an inn
Multiplication is fitted to an each point concentrated, and obtains accurate straight line parameter.
13：According to default warehouse compartment feature, the effective straight line in all straight lines is extracted as warehouse compartment line, with according to institute
State warehouse compartment line and obtain each warehouse compartment positional information in the possible warehouse compartment region.Wherein, in another specific embodiment, the storehouse
Position feature at least includes one or more in following characteristics：
Feature one：Default warehouse compartment shape；The warehouse compartment shape is for example set to rectangle, and has vertically disposed multiple squares
Shape region, the multiple rectangular areas be arrangeding in parallel and the rectangular area for being inclined at an angle setting.When the straight line for detecting
Can constitute one be vertically arranged, be arranged in parallel rectangular area or the rectangular area being obliquely installed, and the rectangular area is big
When requirement in little and warehouse compartment national standard requires to match, then may determine that the rectangular area that the straight line for detecting is constituted
A warehouse compartment is corresponded to.
Feature two：Warehouse compartment by two parallel lines and a vertical line or special angle rectilinear(-al), between the parallel lines
Spacing is in default warehouse compartment length range；Two on the length direction positioned at warehouse compartment of two parallel lines for example, shown in Fig. 2
The parallel lines at end, the vertical line are straight line along the warehouse compartment length direction and vertical with two parallel lines, and adjacent
Two groups of two parallel lines and a vertical line identify a warehouse compartment, and two adjacent LBPs are in default storehouse
In the range of bit width.The default warehouse compartment length range and default warehouse compartment width range according in national standard to corresponding vehicle
Warehouse compartment length and width requirement and be configured.For example, the warehouse compartment in national standard, to vertically disposed kart
Width be 2.8 meters, so, default warehouse compartment width range herein can be 2.8 meters～3.0 meters.
Feature three：The straight line of composition warehouse compartment is with the gray scale difference value in other regions more than default gray scale difference value threshold value；Usual group
Straight line into warehouse compartment profile is higher compared with the brightness of its peripheral region, can pass through to judge the gray scale in straight line and the region around straight line
More than a threshold value, whether difference is used as judging that whether the straight line is a standard of effective straight line of composition warehouse compartment.
Feature four：The shape of adjacent warehouse compartment is identical, and general warehouse compartment will not isolate presence, it will usually have multiple identical setting sides
The warehouse compartment shape of formula is in a row, such as adjacent warehouse compartment be the warehouse compartment shape that vertically disposed warehouse compartment shape or be arranged in parallel,
Or when being the warehouse compartment shape being obliquely installed, the region is judged for a warehouse compartment region.
Feature five：Warehouse compartment is made up of two relative lines and an intersecting lens, and the spacing between the relative line is in default warehouse compartment
In length range；The angle of the relative line and the intersecting lens is in the range of predetermined angle.
Five kinds of warehouse compartment features of the above may be used solely to judge the presence of warehouse compartment, but in order to improve the essence of warehouse compartment detection
Degree, multiple features being combined, whether come the region of comprehensive descision rectilinear(-al) be a warehouse compartment region.
For example, binding characteristic two and feature three, and the warehouse compartment for detecting is by two parallel lines and a vertical line or specific
Angle rectilinear(-al), the spacing between the parallel lines in default warehouse compartment length range, and while constitute warehouse compartment straight line and its
The gray scale difference value in his region judges rectilinear(-al) more than default gray scale difference value threshold value when meeting feature two and feature three simultaneously
Region be an effective warehouse compartment region, improve warehouse compartment detection precision.
Again for example, binding characteristic two, feature three, and feature four, and the warehouse compartment for detecting is by two parallel lines and one
Vertical line or special angle rectilinear(-al), the spacing between the parallel lines is in default warehouse compartment length range, and while constitutes storehouse
The straight line of position is more than default gray scale difference value threshold value with the gray scale difference value in other regions, and the shape of adjacent warehouse compartment is identical, i.e., simultaneously
Meet feature two, feature three, and during feature four, judge the region of rectilinear(-al) for an effective warehouse compartment region.
Again for example, binding characteristic one, feature two, feature three, and feature four, and the warehouse compartment for detecting and default warehouse compartment
Shape is identical, and is made up of two parallel lines and a vertical line, and the spacing between the parallel lines is in default warehouse compartment length range
It is interior, and while constitute the gray scale difference value in straight line and other regions of warehouse compartment more than default gray scale difference value threshold value, and adjacent warehouse compartment
Shape is identical, i.e., simultaneously meet feature one, feature two, feature three, and during feature four, judge the region of rectilinear(-al) for a warehouse compartment
Region.
In another specific embodiment, or the warehouse compartment feature for selecting arranges priority, and first high to priority storehouse
Position feature is compared, and then the warehouse compartment feature taken second place to priority is compared, in the warehouse compartment feature applied, priority
When minimum warehouse compartment feature is all matched, judgement gets effective warehouse compartment.
For example, the warehouse compartment feature of selected characteristic two and feature three as application, and the priority of feature two is more than warehouse compartment three
Priority, i.e. when the straight line for detecting is in the case where feature two is met, that is, the warehouse compartment for detecting is by two parallel lines and one
Bar vertical line or special angle rectilinear(-al), the spacing between the parallel lines is in default warehouse compartment length range, then judges detection
Whether the straight line for going out meets feature three, that is, constitute the straight line of warehouse compartment with the gray scale difference value in other regions more than default gray scale difference value threshold
Value, under conditions of feature two is met, when also meeting feature three, judges the region of rectilinear(-al) for an effective warehouse compartment area
Domain, improves the precision of warehouse compartment detection.
Again for example, selected characteristic two, feature three, and warehouse compartment feature that feature four is application, the priority of feature two are big
In feature three, the priority of feature three is more than feature four, that is, the warehouse compartment for detecting is by two parallel lines and a vertical line or spy
Determine angle rectilinear(-al), when the spacing between the parallel lines is in default warehouse compartment length range, both meet the requirement of feature two, then
Further the straight line of detection composition warehouse compartment meets feature three with the gray scale difference value in other regions more than default gray scale difference value threshold value
Requirement, then further detect that the shape of adjacent warehouse compartment is identical, that is, meet the requirement of feature four, i.e., it is suitable with the default priority
Sequence, judges the region of rectilinear(-al) for an effective warehouse compartment region.
Again for example, selected characteristic one, feature two, feature three, and warehouse compartment feature that feature four is application, feature one it is excellent
First level is more than feature two, and the priority of feature two is more than feature three, the priority of feature three is more than feature four, i.e., when detecting
When warehouse compartment is identical with default warehouse compartment shape, the requirement of feature one is met, then further detect that the straight line for getting meets warehouse compartment
By two parallel lines and a vertical line or special angle rectilinear(-al), the spacing between the parallel lines is in default warehouse compartment length model
Requirement in enclosing, had both met the requirement of feature two, then further detection constitutes the straight line of warehouse compartment and the gray scale difference value in other regions
More than default gray scale difference value threshold value, that is, meet the requirement of feature three, then further detect that the shape of adjacent warehouse compartment is identical, that is, meet
The requirement of feature four, i.e., with the default priority orders, judge the region of rectilinear(-al) for an effective warehouse compartment region.
Priority between the feature of selection can be manually set as the case may be, it is possible to be adjusted in real time
It is whole.
In a specific embodiment of the invention, the warehouse compartment detection method 10 also includes：According to the warehouse compartment positional information,
Extract the physical location information at least two summits of the warehouse compartment, and according to the physical location information on four summits,
Corresponding warehouse compartment figure is shown in default interactive interface.The physical location information on four summits of the warehouse compartment is can extract for example
So that corresponding warehouse compartment figure is shown in default interactive interface.Further, multiple detections can be shown in the interactive interface
The warehouse compartment figure for arriving, and after user is received to the manually selecting of a warehouse compartment figure, according to automated parking system, automobile to be moored
Enter in corresponding warehouse compartment.
In the display interface of the warehouse compartment figure, also to by the graphical virtual of the automobile in the interface, and will
During automobile moors corresponding warehouse compartment, real-time display automobile moor into corresponding virtual screen, to make user timely
Process and state that understanding is parked.Preferably, when the warehouse compartment shown in the warehouse compartment figure shown in interactive interface with panoramic picture
When having deviation, user can adjust the warehouse compartment figure manually to overlapping with corresponding default warehouse compartment figure.For example pass through warehouse compartment
The warehouse compartment figure that shows in the panoramic picture of physical location information on four summits be shown in the warehouse compartment figure 24 in Fig. 2,
It can be seen that the warehouse compartment figure 24 and the corresponding warehouse compartment shown in the panoramic picture have certain deviation, user can according to it is upper and lower,
It is left, and the right side Image Adjusting operation, the warehouse compartment figure 24 is adjusted to warehouse compartment corresponding with the panoramic picture and is overlapped.
Further, the display of the warehouse compartment figure is for example realized using a touch display screen, by touching that user is carried out
Control input, selects corresponding warehouse compartment.
Touch screen provides output interface and input interface between equipment and user simultaneously.Touch screen controller connects and transmits/receives
Send from/go to the signal of telecommunication of touch screen.The touch screen then displays to the user that visual output.This visual output can include text
Sheet, figure, video and its combination in any.Some or all visual outputs can be corresponding with user-interface object, hereinafter will
Its more details are described.
Touch screen receives the input of user also based on tactile and/or tactile contact.The touch screen forms one and receives use
The touch sensitive surface of family input.The touch screen and touch screen controller (together with any associated module in memorizer and/or
Instruction set is together) contact (and any movement or interruption of the touch) on detection touch screen, and by connecing for detecting
Thixotroping changes interacting for the user interface object of such as one or more soft-key buttons etc with display on the touchscreen into.
In one exemplary embodiment, one or more handss of the contact point between touch screen and user corresponding to user
Refer to.The touch screen can use LCD (liquid crystal display) technologies or LPD (light emitting polymer displays) technology, but in other realities
Other Display Techniques can be used in applying example.
Touch screen and touch screen controller can be detected contact and its be moved using any one of various Touch technologies
Dynamic or interruption, these Touch technologies include but is not limited to electric capacity, resistance, infrared and surface acoustic wave techniques, and other close biographies
Sensor array, or for determining the other technologies of the one or more points contacted with touch screen.User can be using any suitable
When object or accessory, such as instruction pen, finger etc., touch screen is contacted.
The touch display screen also has a contact/motion module, and the contact/motion module is together with touch screen controller
To detect the contact with touch screen.Contact/the motion module is included for performing what the detection of the contact with touch screen was associated
The various component softwares of various operations, the operation for example, determine whether to come in contact, and determine whether the contact moves, and chase after
Movement on track touch screen, and determine whether the contact is interrupted (whether stopping contact).Determine the operation of contact point movement
Can include determining that speed (amplitude), speed (amplitude and direction) and/or the acceleration of contact point (include amplitude and/or side
To).In certain embodiments, contact/motion module also detects the contact on touch pad with touch screen controller.
The touch display screen also has figure module in running, and the figure module is included for being on the touchscreen
Now with the various known software components for showing figure.Notice that term " figure " includes any object that can be shown to user, wrap
Include but be not limited to text, webpage, icon (such as including the user interface object including soft-key button), digital picture, video, dynamic
Draw etc..
In certain embodiments, figure module includes light intensity module.The light intensity module control user interface object is this kind of aobvious
Show the light intensity of Drawing Object on the touchscreen.Intensity control can include the light intensity for increasing or reducing Drawing Object.At some
In embodiment, the increase or reduction can follow predefined function.
The user interface state of user interface state module control device.The user interface state module can include locking
Module and unlocked state.Locking module detection is to being transformed into user interface lock-out state by equipment, and equipment is transformed into lock
Determine the satisfaction of any one condition in one or more conditions of state.Unlocked state is detected to equipment is transformed into user circle
Face released state, and any one satisfaction equipment being transformed in one or more conditions of released state.Below
In the more details related to user interface state will be described.
Fig. 5 is further regarded to, the warehouse compartment detecting system module diagram in one embodiment of the present invention is shown as.
The warehouse compartment detecting system 30, is applied on the mobile device with least one photographic head, and the mobile device is, for example, one
Automobile or smart mobile phone, below, are illustrated with the mobile device as automobile, the warehouse compartment detecting system 30 include with
The processing meanss 31 that the photographic head communication is connected, the processing meanss 31 include：
Panoramic picture forms module 311, to the image shot according to all photographic head, is formed with regard to the movement
The image of the certain viewing angles of equipment；The certain viewing angles can according to installation site of the type of photographic head and photographic head etc. because
Element is determined, the adjustment of image aspects can be carried out with the demand according to user, for example, is only formed the right side with regard to the automobile and is regarded
The image at angle, and for example only form the image of the left side perspective with regard to the automobile.And in the description of the embodiments below, with spy
The image for determining visual angle is the vertical view panorama sketch with regard to the automobile on the front side, rear side, left side and the right side that include the automobile
Illustrate as a example by, be, for example, that, shown in Fig. 2, the automobile 21 is in parking lot with regard to the vertical view panoramic picture of the automobile
It is interior.Before the vertical view panoramic picture that the image shot according to the photographic head forms with regard to the automobile, also include to described
The image that photographic head shoots carries out the process of pretreatment, and the pretreatment at least includes the one kind in the following manner：
Mode one：Noise is removed to the image that each photographic head shoots；
Wherein, the digital picture in reality is subjected to imaging device and external environmental noise in digitized and transmitting procedure
Interference etc. affects, referred to as noisy image or noise image.The process for reducing noise in digital picture is referred to as image denoising.
Noise is the major reason of image interference.One images there may be various noises in actual applications,
These noises may be produced in the transmission, it is also possible to produce in quantization etc. is processed.Can be by which according to the relation of noise and signal
It is divided into three kinds of forms：(f (x, y) represents given original picture, and g (x, y) presentation image signal, n (x, y) represent noise.
1) additive noise：This noise like is unrelated with input image signal, noisy image be represented by f (x, y)=g (x, y)+
The noise produced during the camera-scanning image of n (x, y), interchannel noise and vidicon just belongs to this noise like.
2) multiplicative noise：This noise like is relevant with picture intelligence, noisy image be represented by f (x, y)=g (x, y)+n (x,
Y) g (x, y), noise during flying spot scanner scanned picture, the correlated noise in TV image, the grain noise in film just belong to
In this noise like.
3) quantizing noise：This noise like is unrelated with input image signal, is that quantizing process has quantization error, then reflects
Receiving terminal and produce.
Generally image denoising wave filter includes following several：
1st, mean filter
It is highly suitable for removing using the mean filter of neighborhood averaging and is made an uproar by scanning the granule in the image for obtaining
Sound.Field averaging method effectively inhibits noise, and as well as averagely blooming is caused, fog-level is with field partly
Footpath is directly proportional.
The smoothness reached by geometric mean wave filter can be compared with arithmetic equal value wave filter.But the meeting in filtering
Lose less pictorial detail.Harmonic wave mean filter is more preferable to " salt " noise effects, but is not suitable for " Fructus Piperiss " noise.It
It is good at processing other noises as Gaussian noise.Inverse harmonic wave mean filter is more suitable for processing impulsive noise.But it has
Individual shortcoming, exactly must be it is to be understood that noise be dark noise or bright noise.In order to select suitable filter order numerical symbol, such as
The symbol of fruit exponent number has selected may cause catastrophic consequence wrong.
2nd, adaptive wiener filter
It can adjust the output of wave filter according to the local variance of image, and local variance is bigger, the smooth work of wave filter
With stronger.Its final goal be make recovery image f^ (x, y) and original image f (x, y) mean square error e2=E [(f (x,
Y)-f^ (x, y) 2] it is minimum.The filter effect of the method is better than mean filter effect, to retain image edge and other
HFS is very useful, but amount of calculation is larger.Wiener filter is to the imaging filtering best results with white noise.
3rd, median filter
It is a kind of conventional Nonlinear Smoothing Filter.Its ultimate principle be in digital picture or Serial No. a bit
Value with the intermediate value of each point value in a field of the point replace its major function be allow surrounding pixel gray value difference than larger
Pixel change to take the value being close to the pixel value of surrounding.Such that it is able to eliminate isolated noise spot, so medium filtering is for filter
Except the salt-pepper noise of image it is highly effective.Median filter can accomplish the edge for not only having removed noise but also having protected image.So as to
Obtain relatively satisfactory recovery effect.And, the statistical property of image is not needed during actual operation.This also brings many sides
Just, it is but many to some details.The method that particularly the more image of point, line, pinnacle details should not adopt medium filtering.
4th, morphology scratch filter
To open and closure will combine and can be used to filter noise, it is first to there is noisy image to carry out unlatching operation, optional
Select structural element matrix bigger than the size of noise, thus the result opened is by the noise remove in background.It is finally to previous
The image that step is obtained carries out closed procedure, and the noise on image is removed.According to the characteristics of the method it is recognised that the method is suitable
Image type is object size in image all than larger.And there is no tiny details, to such scene image partition
Effect can be relatively good.
5th, Wavelet Denoising Method
This method remains most of wavelet coefficient comprising signal, therefore can preferably keep pictorial detail.It is little
Wave analysiss carry out image denoising mainly 3 steps：
(1) wavelet decomposition is carried out to picture intelligence；
(2) threshold value quantizing is carried out to the high frequency coefficient after hierachical decomposition；
(3) using 2-d wavelet reconstructed image signal.
Mode two：Demarcation correction is carried out to the image that each photographic head shoots according to default correction rule of demarcating.
Mode three：Cutting is carried out to the image that each photographic head shoots, is pieced together and video smoothing process.
Image mosaic is exactly that a series of pictures for mutually overlapping for Same Scene is synthesized a big width
The image at visual angle.Spliced image request is farthest close to original image, and distortion is as little as possible, is not significantly stitched
Zygonema.
The property of original image is the most important factor for affecting merging algorithm for images, and the mode that original image is obtained is different,
Image integrity matter also has very big difference, needs using different stitching algorithms.The present invention is preferentially from following connecting method
A kind of splicing for carrying out image：
I) cylinder/sphere/cubic panorama splicing
The intermediate scheme of panorama sketch mainly has spherical panoramic image, Cylindrical panoramic image and cubic panorama.Cylindrical panoramic image
Easily obtain, the scene of any sight can be generated, but it is restricted to the ken of vertical direction；The complete earth's surface of spherical panoramic image energy is whole
View space, but the scene torsional deformation at the two poles of the earth can be caused；Cubic panorama is typically by the picture group that 6 width Radix Rumiciss are 90 °
Into, it is easy to the storage of data, it is easy to show, is mainly used in three-dimension virtual reality field..
Cylinder model is the Panoramagram montage model for most generally adopting, and the method requirement camera is around vertical rotation axis (such as three feet
Frame) make to horizontally rotate.After projecting image onto on a unified cylinder, Bonding Problem is translated between cylinder epigraph
Translation problem.The concentric circular stitching algorithm of the propositions such as Heung2YeungShum is a kind of method for depending on camera parameter.Should
Algorithm is considered as the variation of cylinder model.
II) the splicing based on perspective transform
Motion of the splicing of perspective transform to camera does not have strict restriction.But in order to prevent the appearance of parallax, it is desired to quilt
The scenery of shooting is an approximate plane, and in shooting, subject distance camera far can be considered as plane it enough.When what is obtained
It is the fragmentation pattern picture for putting in order unknown, or the motion mode of camera is unknown, can adopt this model.
III) the splicing based on affine transformation
Affine transformation is approximate frequently as the one kind based on perspective transform panorama sketch, camera tilt angles degree is little, focal length foot
Preferable matching result affine transformation can be obtained when enough big to be defined on continuous image.
IV) the image mosaic based on image retrieval
With CBIR method carry out image mosaic be it is a kind of combine image data base, image retrieval,
The joining method of the technologies such as pattern recognition.Artwork is divided into many fritters first, then to each fritter, from image data base
Find image visually most close therewith.The image selected from data base is constituted one greatly with substitution method finally
Figure.
Lines detection module 312, forms the communication of module 311 with described image and is connected, be in extract in described image
The all straight lines in possibility warehouse compartment region near the mobile device；
Preferably, by hough change detections and extract the possibility storehouse in the panoramic picture near the automobile
All straight lines in the region of position.Hough transform is a kind of parameter estimation techniques using voting principle.Its principle is to utilize image
Space and the point-line duality of Hough parameter spaces, are transformed into parameter space the test problems in image space.By
Simple cumulative statistics is carried out in parameter space, the method detection of straight lines of accumulator peak value is then found in Hough parameter spaces.
The essence of Hough transform is to cluster the pixel with certain relation in image space, and searching can use certain these pixels
The parameter space accumulation corresponding point that one analytical form is connected.In the case where parameter space is less than two dimension, this conversion
There is preferable effect.
Included by the principle of hough change detection straight lines：For the straight line in plane, in cartesian coordinate system
In, common are point slope form, two kinds of method for expressing of two point form.But hough conversion in, it is considered to be another expression side
Formula：Use (r, theta) to represent straight line.Wherein r is distance of the straight line to origin, and theta is the vertical line of the straight line
With the angle of x-axis.Become using hough and bring the thought of detection of straight lines and be exactly：The straight line in n direction is assumed for each point, lead to
Normal n=180, the angle precision of the straight line for now detecting is 1 °, calculates (r, theta) coordinate of this n bar straight line respectively, obtains n
Individual coordinate points.If point to be judged has N number of, (r, the theta) coordinate for finally giving has N*n.Relevant this N*n (r,
Theta) coordinate, wherein theta are discrete angles, have 180 values.If multiple points are point-blank, then must
There is this multiple point in certain value theta_i of theta=, the r approximately equals of this multiple point are in r_i.That is this multiple point
All on straight line (r_i, theta_i).In actual straight-line detection situation, if it exceeds the point of certain amount possesses identical
(r, theta) coordinate, then it is determined that there is straight line herein.
The method of the straight-line detection can also be to carry out straight line inspection using method of least square in another specific embodiment
Survey, or combine random Hough transformation (RHT) noise resisting ability characteristic high with method of least square (LSM) fitting precision by force,
Straight-line detection is carried out based on random Hough transformation and method of least square.The line detection method can be used for background noise it is relatively strong and
There is the image of certain bending in straight line, accuracy of detection is high.First, the approximate location of straight line is determined with random Hough transformation, is obtained
Straight line parameter and quantity；Then, using gained straight line parameter, the point in image is calculated to the distance of straight line, according to distance, can be with
Determine the point set near every straight line, reject noise spot and noise；Finally, an each point concentrated is intended with method of least square
Close, obtain accurate straight line parameter.
Warehouse compartment position information acquisition module 313, is connected with the lines detection module 312 communication, to according to default
Warehouse compartment feature, extracts the effective straight line in all straight lines as warehouse compartment line, to obtain the possibility according to the warehouse compartment line
Each warehouse compartment positional information in warehouse compartment region.
In a specific embodiment of the invention, the processing meanss 31 also include：Warehouse compartment image display module, with the storehouse
Position position information acquisition module communication is connected, and according to the warehouse compartment positional information, extracts at least two summits of the warehouse compartment
Physical location information, and according to the physical location information at least two summit, show corresponding in default interactive interface
Warehouse compartment figure.The physical location information on four summits of the warehouse compartment is can extract for example to show in default interactive interface
Corresponding warehouse compartment figure.Further, multiple warehouse compartment figures for detecting can be shown in the interactive interface, and is receiving user
To after the manually selecting of a warehouse compartment figure, according to automated parking system, automobile is moored in corresponding warehouse compartment.
In the display interface of the warehouse compartment image display module, also to by the graphical virtual of the automobile to the interface
In, and during automobile to be moored corresponding warehouse compartment, real-time display automobile moor into corresponding virtual screen, to allow user
The process and state parked can be understood in time.Preferably, when aobvious in the warehouse compartment figure shown in interactive interface with panoramic picture
When the warehouse compartment for showing has deviation, user can adjust the warehouse compartment figure manually to overlapping with corresponding default warehouse compartment figure.For example
It is the warehouse compartment figure in Fig. 2 by the warehouse compartment figure that the physical location information on the four of warehouse compartment summits is shown in the panoramic picture
Shown in 24, it is seen that the warehouse compartment figure 24 has certain deviation with the corresponding warehouse compartment shown in the panoramic picture, user can basis
It is upper and lower, left, and the right side Image Adjusting operation, the warehouse compartment figure 24 is adjusted to warehouse compartment weight corresponding with the panoramic picture
Close.
Further, a warehouse compartment image display module for example, touch display screen, the touch-control carried out by user are defeated
Enter, select corresponding warehouse compartment.
Touch screen provides output interface and input interface between equipment and user simultaneously.Touch screen controller connects and transmits/receives
Send from/go to the signal of telecommunication of touch screen.The touch screen then displays to the user that visual output.This visual output can include text
Sheet, figure, video and its combination in any.Some or all visual outputs can be corresponding with user-interface object, hereinafter will
Its more details are described.
Touch screen receives the input of user also based on tactile and/or tactile contact.The touch screen forms one and receives use
The touch sensitive surface of family input.The touch screen and touch screen controller (together with any associated module in memorizer and/or
Instruction set is together) contact (and any movement or interruption of the touch) on detection touch screen, and by connecing for detecting
Thixotroping changes interacting for the user interface object of such as one or more soft-key buttons etc with display on the touchscreen into.
In one exemplary embodiment, one or more handss of the contact point between touch screen and user corresponding to user
Refer to.The touch screen can use LCD (liquid crystal display) technologies or LPD (light emitting polymer displays) technology, but in other realities
Other Display Techniques can be used in applying example.
Touch screen and touch screen controller can be detected contact and its be moved using any one of various Touch technologies
Dynamic or interruption, these Touch technologies include but is not limited to electric capacity, resistance, infrared and surface acoustic wave techniques, and other close biographies
Sensor array, or for determining the other technologies of the one or more points contacted with touch screen.User can be using any suitable
When object or accessory, such as instruction pen, finger etc., touch screen is contacted.
The touch display screen also has a contact/motion module, and the contact/motion module is together with touch screen controller
To detect the contact with touch screen.Contact/the motion module is included for performing what the detection of the contact with touch screen was associated
The various component softwares of various operations, the operation for example, determine whether to come in contact, and determine whether the contact moves, and chase after
Movement on track touch screen, and determine whether the contact is interrupted (whether stopping contact).Determine the operation of contact point movement
Can include determining that speed (amplitude), speed (amplitude and direction) and/or the acceleration of contact point (include amplitude and/or side
To).In certain embodiments, contact/motion module also detects the contact on touch pad with touch screen controller.
The touch display screen also has figure module in running, and the figure module is included for being on the touchscreen
Now with the various known software components for showing figure.Notice that term " figure " includes any object that can be shown to user, wrap
Include but be not limited to text, webpage, icon (such as including the user interface object including soft-key button), digital picture, video, dynamic
Draw etc..
In certain embodiments, figure module includes light intensity module.The light intensity module control user interface object is this kind of aobvious
Show the light intensity of Drawing Object on the touchscreen.Intensity control can include the light intensity for increasing or reducing Drawing Object.At some
In embodiment, the increase or reduction can follow predefined function.
The user interface state of user interface state module control device.The user interface state module can include locking
Module and unlocked state.Locking module detection is to being transformed into user interface lock-out state by equipment, and equipment is transformed into lock
Determine the satisfaction of any one condition in one or more conditions of state.Unlocked state is detected to equipment is transformed into user circle
Face released state, and any one satisfaction equipment being transformed in one or more conditions of released state.Below
In the more details related to user interface state will be described.
In a specific embodiment of the invention, the warehouse compartment detecting system 30 also includes：Memory module 32, with the process
The communication of warehouse compartment position information acquisition module 313 in device 31 is connected, and be stored with the default warehouse compartment feature；The warehouse compartment is special
Levy at least including one or more in following characteristics：
Feature one：Default warehouse compartment shape；When the straight line for detecting can constitute one be vertically arranged, be arranged in parallel rectangle
Region or the rectangular area being obliquely installed, and the size of the rectangular area requires phase with the requirement in warehouse compartment national standard
Timing, then may determine that the rectangular area that the straight line for detecting is constituted has corresponded to a warehouse compartment.
Feature two：Warehouse compartment by two parallel lines and a vertical line or special angle rectilinear(-al), between the parallel lines
Spacing is in default warehouse compartment length range；Two on the length direction positioned at warehouse compartment of two parallel lines for example, shown in Fig. 2
The parallel lines at end, the vertical line are straight line along the warehouse compartment length direction and vertical with two parallel lines, and adjacent
Two groups of two parallel lines and a vertical line identify a warehouse compartment, and two adjacent LBPs are in default storehouse
In the range of bit width.The default warehouse compartment length range and default warehouse compartment width range according in national standard to corresponding vehicle
Warehouse compartment length and width requirement and be configured.For example, the warehouse compartment in national standard, to vertically disposed kart
Width be 2.8 meters, so, default warehouse compartment width range herein can be 2.8 meters～3.0 meters.
Feature three：The straight line of composition warehouse compartment is with the gray scale difference value in other regions more than default gray scale difference value threshold value；Usual group
Straight line into warehouse compartment profile is higher compared with the brightness of its peripheral region, can pass through to judge the gray scale in straight line and the region around straight line
More than a threshold value, whether difference is used as judging that whether the straight line is a standard of effective straight line of composition warehouse compartment.
Feature four：The shape of adjacent warehouse compartment is identical, and general warehouse compartment will not isolate presence, it will usually have multiple identical setting sides
The warehouse compartment shape of formula is in a row, such as adjacent warehouse compartment is vertically disposed warehouse compartment shape (such as Fig. 2), or is the storehouse be arrangeding in parallel
Position shape (such as Fig. 3), or when being warehouse compartment shape (such as the Fig. 4) being obliquely installed, the region is judged for a warehouse compartment region.
Feature five：Warehouse compartment is made up of two relative lines and an intersecting lens, and the spacing between the relative line is in default warehouse compartment
In length range；The angle of the relative line and the intersecting lens is in the range of predetermined angle.
Five kinds of warehouse compartment features of the above may be used solely to judge the presence of warehouse compartment, but in order to improve the essence of warehouse compartment detection
Degree, multiple features being combined, whether come the region of comprehensive descision rectilinear(-al) be a warehouse compartment region.
For example, binding characteristic two and feature three, and the warehouse compartment for detecting is by two parallel lines and a vertical line or specific
Angle rectilinear(-al), the spacing between the parallel lines in default warehouse compartment length range, and while constitute warehouse compartment straight line and its
The gray scale difference value in his region judges rectilinear(-al) more than default gray scale difference value threshold value when meeting feature two and feature three simultaneously
Region be an effective warehouse compartment region, improve warehouse compartment detection precision.
Again for example, binding characteristic two, feature three, and feature four, and the warehouse compartment for detecting is by two parallel lines and one
Vertical line or special angle rectilinear(-al), the spacing between the parallel lines is in default warehouse compartment length range, and while constitutes storehouse
The straight line of position is more than default gray scale difference value threshold value with the gray scale difference value in other regions, and the shape of adjacent warehouse compartment is identical, i.e., simultaneously
Meet feature two, feature three, and during feature four, judge the region of rectilinear(-al) for an effective warehouse compartment region.
Again for example, binding characteristic one, feature two, feature three, and feature four, and the warehouse compartment for detecting and default warehouse compartment
Shape is identical, and is made up of two parallel lines and a vertical line, and the spacing between the parallel lines is in default warehouse compartment length range
It is interior, and while constitute the gray scale difference value in straight line and other regions of warehouse compartment more than default gray scale difference value threshold value, and adjacent warehouse compartment
Shape is identical, i.e., simultaneously meet feature one, feature two, feature three, and during feature four, judge the region of rectilinear(-al) for a warehouse compartment
Region.
In another specific embodiment, or the warehouse compartment feature for selecting arranges priority, and first high to priority storehouse
Position feature is compared, and then the warehouse compartment feature taken second place to priority is compared, in the warehouse compartment feature applied, priority
When minimum warehouse compartment feature is all matched, judgement gets effective warehouse compartment.
For example, the warehouse compartment feature of selected characteristic two and feature three as application, and the priority of feature two is more than warehouse compartment three
Priority, i.e. when the straight line for detecting is in the case where feature two is met, that is, the warehouse compartment for detecting is by two parallel lines and one
Bar vertical line or special angle rectilinear(-al), the spacing between the parallel lines is in default warehouse compartment length range, then judges detection
Whether the straight line for going out meets feature three, that is, constitute the straight line of warehouse compartment with the gray scale difference value in other regions more than default gray scale difference value threshold
Value, under conditions of feature two is met, when also meeting feature three, judges the region of rectilinear(-al) for an effective warehouse compartment area
Domain, improves the precision of warehouse compartment detection.
Again for example, selected characteristic two, feature three, and warehouse compartment feature that feature four is application, the priority of feature two are big
In feature three, the priority of feature three is more than feature four, that is, the warehouse compartment for detecting is by two parallel lines and a vertical line or spy
Determine angle rectilinear(-al), when the spacing between the parallel lines is in default warehouse compartment length range, both meet the requirement of feature two, then
Further the straight line of detection composition warehouse compartment meets feature three with the gray scale difference value in other regions more than default gray scale difference value threshold value
Requirement, then further detect that the shape of adjacent warehouse compartment is identical, that is, meet the requirement of feature four, i.e., it is suitable with the default priority
Sequence, judges the region of rectilinear(-al) for an effective warehouse compartment region.
Again for example, selected characteristic one, feature two, feature three, and warehouse compartment feature that feature four is application, feature one it is excellent
First level is more than feature two, and the priority of feature two is more than feature three, the priority of feature three is more than feature four, i.e., when detecting
When warehouse compartment is identical with default warehouse compartment shape, the requirement of feature one is met, then further detect that the straight line for getting meets warehouse compartment
By two parallel lines and a vertical line or special angle rectilinear(-al), the spacing between the parallel lines is in default warehouse compartment length model
Requirement in enclosing, had both met the requirement of feature two, then further detection constitutes the straight line of warehouse compartment and the gray scale difference value in other regions
More than default gray scale difference value threshold value, that is, meet the requirement of feature three, then further detect that the shape of adjacent warehouse compartment is identical, that is, meet
The requirement of feature four, i.e., with the default priority orders, judge the region of rectilinear(-al) for an effective warehouse compartment region.
Priority between the feature of selection can be manually set as the case may be, it is possible to be adjusted in real time
It is whole.
Described memory module 32 may include high-speed random access memory, and may also include nonvolatile memory,
Such as one or more disk storage equipments, flash memory device or other non-volatile solid-state memory devices.In certain embodiments,
Memory module 32 can also include the memorizer of one or more processors, such as via RF circuits or outside port and communication
The network attached storage of network access, wherein the communication network can be the Internet, one or more in-house networks, LAN
(LAN), wide area network (WLAN), storage area network (SAN) etc. or other are appropriately combined.Memory module controller controllable device
Access of the other assemblies of such as CPU and interface circuit etc to memorizer.
In another specific embodiment of the present invention, the processing meanss 31 can be also integrated in a mobile electronic device, institute
It is, for example, the smart mobile phone with photographic head communication connection to state mobile electronic device, and, the processing meanss 31 are arranged at institute
State in electronic equipment, the data processing pressure of the car-mounted terminal of the automobile 10 can be reduced.The photographic head and the intelligence
The communication connection of mobile phone is by Bluetooth, CDMA2000, GSM, Infrared (IR), ISM, RFID, UMTS/3GPPw/
One kind in the wireless communication protocols such as HSDPA, UWB, WiMAX Wi-Fi and ZigBee carries out radio communication.
Further, the processing meanss 31 are present with a kind of formation of APP in the mobile electronic device, open institute
The mode of APP is stated, for example, is included：User's manual unlocking, the mobile electronic device detect what the car-mounted terminal of automobile 10 sent
When automatic parking is asked, the mobile electronic device opens the APP.
The mobile electronic device preferably includes memorizer, Memory Controller, one or more processors (CPU), connects
Mouthful circuit, RF (radio frequency) circuit, voicefrequency circuit, speaker, mike, input/output (I/O) subsystem, touch display screen, its
He exports or control device, and outside port.These components are communicated by one or more communication bus or holding wire.
The mobile electronic device can be any portable electric appts, including but not limited to notebook computer, flat board electricity
Brain, smart mobile phone, multimedia player, personal digital assistant (PDA) etc., it is also possible to including wherein two or multinomial group
Close.It should be appreciated that the equipment enumerated in the present embodiment is an example of portable electric appts, the component of the equipment can be with
Than being given in diagram with more or less of component, or with different component Configurations.Various assemblies shown in figure can
Realize with the combination of hardware, software or software and hardware, including one or more signal processing and/or special road.
The I/O subsystems provide the interface between the input/output peripheral hardware and interface circuit of equipment, input/output peripheral
Such as touch screen and other input/control devicess.The I/O subsystems include touch screen controller and for other outputs or control
One or more input controllers of control equipment.One or more of input controllers receive/send from/to go to other defeated
Enter or control device the signal of telecommunication.Described other input/control devicess may include that physical button (for example presses button, rocking bar is pressed
Button etc.), dial, slider switch, stick etc..
Or in another specific embodiment, the car-mounted terminal of the automobile 10 can also be by the data of photographic head acquisition
Send into a high in the clouds, and the processing meanss 31 are integrated in the server associated with the high in the clouds, and by result
Send to the car-mounted terminal to be shown, the main processes of data are positioned over into high in the clouds equally, the vapour can be reduced
The data processing pressure of car 10.
Or in another specific embodiment, the data that the photographic head is obtained are uploaded in a network platform, and with
The server set of network platform association into the data of the shooting overhead pass of the processing meanss 31 pairs process, it is described
The car-mounted terminal or other-end of automobile 10, can by user name password login registered in advance to the network platform,
To obtain the result of the processing meanss 31, and carry out the operations such as corresponding display.
And further, the warehouse compartment image display module can be the vehicle-mounted display terminal for being integrated in the automobile 10
In, or can also be to be integrated in the smart mobile phone.
The technical scheme of the warehouse compartment detecting system 30 is corresponding with the technical scheme of the warehouse compartment detection method 10, owns
Description with regard to the warehouse compartment detection method 10 is can be applicable in the present embodiment.
In sum, warehouse compartment detection method of the invention, system and mobile device, according to the image that photographic head shoots, shape
Into the image with regard to the mobile device；It is in extracting described image in the possibility warehouse compartment region near the mobile device
All straight lines；According to default warehouse compartment feature, the effective straight line in all straight lines is extracted as warehouse compartment line, with according to described
Warehouse compartment line obtains each warehouse compartment positional information in the possible warehouse compartment region.Warehouse compartment in the image that photographic head is shot by the present invention
The straight line in region is compared with warehouse compartment feature, extracts warehouse compartment positional information, and then can accurately orient warehouse compartment
Position, to provide assistance as automatic parking.So, the present invention effectively overcomes various shortcoming of the prior art and has height
Industrial utilization.
The principle and its effect of above-described embodiment only illustrative present invention, it is of the invention not for limiting.It is any ripe
The personage for knowing this technology all can carry out modifications and changes to above-described embodiment under the spirit and the scope without prejudice to the present invention.Cause
This, those of ordinary skill in the art is complete with institute under technological thought without departing from disclosed spirit such as
Into all equivalent modifications or change, should by the present invention claim be covered.
Claims (10)
1. a kind of warehouse compartment detection method, it is characterised in that be applied on the mobile device with least one photographic head, the storehouse
Position detecting method includes：
The image that the photographic head according at least shoots, forms the image of the certain viewing angles with regard to the mobile device；
The all straight lines being in extracting described image in the possibility warehouse compartment region near the mobile device；
According to default warehouse compartment feature, the effective straight line in all straight lines is extracted as warehouse compartment line, according to the warehouse compartment line
Obtain each warehouse compartment positional information in the possible warehouse compartment region.
2. warehouse compartment detection method according to claim 1, it is characterised in that：The warehouse compartment detection method also includes：
Pretreatment is carried out to the image that the photographic head shoots, is formed with regard to the mobile device according to pretreated image
Image；The pretreatment at least includes the one kind in the following manner：
Mode one：Noise is removed to the image that each photographic head shoots；
Mode two：Demarcation correction is carried out to the image that each photographic head shoots according to default correction rule of demarcating；
Mode three：The image that each photographic head shoots is carried out intercepting, spliced and video smoothing process.
3. warehouse compartment detection method according to claim 1, it is characterised in that：Possibility warehouse compartment area near the mobile device
Domain includes region in the left side predeterminable range of the mobile device, in the right side predeterminable range of the mobile device
Region, positioned at the mobile device front preset distance in region, positioned at the rear predeterminable range of the mobile device
It is interior region, the region in the left front predeterminable range of the mobile device, pre- positioned at the right front of the mobile device
If distance in region, the region in the left back predeterminable range of the mobile device or/and be located at the mobile device
Right back predeterminable range in region.
4. warehouse compartment detection method according to claim 1, it is characterised in that：During the warehouse compartment feature includes following characteristics
One or more：
Feature one：Default warehouse compartment shape；
Feature two：Warehouse compartment is by two parallel lines and a vertical line or special angle rectilinear(-al), the spacing between the parallel lines
In default warehouse compartment length range；
Feature three：The straight line of composition warehouse compartment is with the gray scale difference value in other regions more than default gray scale difference value threshold value；
Feature four：The shape of adjacent warehouse compartment is identical；
Feature five：Warehouse compartment is made up of two relative lines and an intersecting lens, and the spacing between the relative line is in default warehouse compartment length
In the range of；The angle of the relative line and the intersecting lens is in the range of predetermined angle.
5. warehouse compartment detection method according to claim 1, it is characterised in that the warehouse compartment detection method also includes：
According to the warehouse compartment positional information, the physical location information at least two summits of the warehouse compartment is extracted, and according to described
The physical location information at least two summits, shows corresponding warehouse compartment figure in default interactive interface.
6. a kind of warehouse compartment detecting system, it is characterised in that：It is applied on the mobile device with least one photographic head, the storehouse
Position detecting system includes the processing meanss being connected with photographic head communication, and the processing meanss include：
Image collection module, to the image shot according to all photographic head, forms with regard to the specific of the mobile device
The image at visual angle；
Lines detection module, is connected with the communication of described image acquisition module, is in extract in the image of the certain viewing angles
The all straight lines in possibility warehouse compartment region near the mobile device；
Warehouse compartment position information acquisition module, is connected with lines detection module communication, according to default warehouse compartment feature, to carry
The effective straight line in all straight lines is taken as warehouse compartment line, obtains each in the possible warehouse compartment region according to the warehouse compartment line
Warehouse compartment positional information.
7. warehouse compartment detecting system according to claim 6, it is characterised in that the processing meanss also include：
Warehouse compartment image display module, is connected with warehouse compartment position information acquisition module communication, according to the warehouse compartment positional information,
The physical location information at least two summits of the warehouse compartment is extracted, and according to the physical bit confidence at least two summit
Breath, shows corresponding warehouse compartment figure in default interactive interface.
8. warehouse compartment detecting system according to claim 6, it is characterised in that the warehouse compartment detecting system also includes：
Memory module, is connected with the warehouse compartment position information acquisition module communication in the processing meanss, is stored with described default
Warehouse compartment feature；The warehouse compartment feature includes one or more in following characteristics：
Feature one：Default warehouse compartment shape；
Feature two：Warehouse compartment is by two parallel lines and a vertical line or special angle rectilinear(-al), the spacing between the parallel lines
In default warehouse compartment length range；
Feature three：The straight line of composition warehouse compartment is with the gray scale difference value in other regions more than default gray scale difference value threshold value；
Feature four：The shape of adjacent warehouse compartment is identical；
Feature five：Warehouse compartment is made up of two relative lines and an intersecting lens, and the spacing between the relative line is in default warehouse compartment length
In the range of；The angle of the relative line and the intersecting lens is in the range of predetermined angle.
9. a kind of mobile device, it is characterised in that：With at least one photographic head and such as any one of claim 6～8 institute
The warehouse compartment detecting system stated；The mobile device includes automobile or smart mobile phone.
10. a kind of warehouse compartment detection method, it is characterised in that the warehouse compartment detection method includes：
The all straight lines being in extracting an image in the possibility warehouse compartment region near mobile device；
According to default warehouse compartment feature, the effective straight line in all straight lines is extracted as warehouse compartment line, according to the warehouse compartment line
Obtain each warehouse compartment positional information in the possible warehouse compartment region.
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