CN109389829A - A kind of illegal parking recognition methods and system - Google Patents
A kind of illegal parking recognition methods and system Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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Abstract
本发明公开了一种违规停车识别方法及系统，该违规停车识别方法包括如下步骤：摄像头采集图像视频信息并传输给处理器；处理器在摄像头的广角内建立一个笛卡尔空间坐标系；处理器对车辆图像进行识别与处理，识别车辆的特征，在水平面内对识别出的车辆图像的周围构建一个四边形框，将车辆框住；在XOY平面内判断四边形框的四个角的位置，确定在摄像头的水平面内四边形框的形状；将识别出的车辆四边形框的形状与此位置的车位预设四边形框形状对比判断是否违规停车。本发明能够在停车场或者马路上识别停车不规范的车辆，直接识别车辆的位置，并及时提醒和拍照；减少停车场的操作人员，可以更加快速并且准确的达到识别效果。The invention discloses a method and system for recognizing illegal parking. The method for recognizing illegal parking includes the following steps: a camera collects image and video information and transmits it to a processor; the processor establishes a Cartesian space coordinate system within a wide angle of the camera; the processor Identify and process the vehicle image, identify the characteristics of the vehicle, build a quadrilateral frame around the identified vehicle image in the horizontal plane, and frame the vehicle; determine the position of the four corners of the quadrilateral frame in the XOY plane, and determine the The shape of the quadrilateral frame in the horizontal plane of the camera; compare the shape of the identified quadrilateral frame of the vehicle with the shape of the preset quadrilateral frame of the parking space at this position to determine whether illegal parking is required. The invention can identify vehicles with irregular parking in the parking lot or on the road, directly identify the position of the vehicle, and remind and take pictures in time; reduce the number of operators in the parking lot, and can achieve the recognition effect more quickly and accurately.
Description
Technical field
The invention belongs to Computer Image Processing field more particularly to a kind of illegal parking recognition methods and systems.
Background technique
With the expanding economy in China, present transport vehicle, car quantity increasing year by year, vehicle increase bring
It is exactly parking problem, however the Parking Stall in many places is limited, and this bring main problem is first is that some car owners can be vehicle
It is parked in beside road and causes to have inconvenient traffic；Second Problem is exactly to stop in some parking lots lack of standardization, and a vehicle is parked in
On two parking stalls or stop subsequent vehicle can not normally be entered and left askew, to cause parking lot disorder.
Summary of the invention
The present invention is directed at least solve the technical problems existing in the prior art, especially innovatively proposes a kind of violation and stop
Vehicle recognition methods and system.
In order to realize above-mentioned purpose of the invention, according to the first aspect of the invention, the present invention provides a kind of violations
Parking recognition methods, which comprises the steps of:
Camera collection image video information is simultaneously transferred to processor；
Processor establishes a cartesian space coordinate system in the wide-angle of camera；
Processor establishes the default quadrilateral frame of parking stall in the coordinate system；
Processor is identified and is handled to vehicle image, identifies the feature of vehicle, the feature includes tire, reflective
Mirror, one of headlamp or rear lamp or their any combination establish the quadrilateral frame for surrounding vehicle according to the feature；?
The position at four angles of vehicle quadrilateral frame is judged in XOY plane, determines the vehicle quadrilateral frame in the horizontal plane of camera
Shape；
Preset the comparison judgement of quadrilateral frame shape in the parking stall of the shape for the vehicle quadrilateral frame that will identify that and this position
No illegal parking.
The present invention can identify the nonstandard vehicle of parking on parking lot or road, the position of Direct Recognition vehicle,
And it reminds and takes pictures in time；The operator for reducing parking lot, more quickly and accurately can reach recognition effect.
In the preferred embodiment of the present invention, camera be mounted in apart from ground level be x meter, the x for higher than
The numerical value of vehicle, and the angle of its incidence angle and horizontal plane is θ °, 30≤θ≤60；It is thrown if vehicle is parked in apart from camera level
At position y meters of shadow point, coordinate value of the vehicle in the coordinate system of horizontal plane is p (0, y), and processor is stopped at this coordinate
The corresponding quadrangle wire in position, if the quadrilateral frame of vehicle and the parking stall quadrangle wire of budget mismatch (four with budget
Side shape frame feature gap is excessive), then judge vehicle parking in violation of rules and regulations.
It can also be prestored in another preferred embodiment of the invention, in processor with parking stall position wire mark
First background picture of note, camera acquisition vehicle image/video information identify vehicle and obtain the quadrilateral frame of vehicle, will take
Vehicle image video background removal with quadrilateral frame, the image after removal background is merged with the first background picture, is compared
Vehicle quadrilateral frame exceeds the distance and area of parking stall position wire, when vehicle quadrilateral frame exceeds the distance of parking stall position wire
Numerical value with area is without departing from respective threshold value, then vehicle does not have illegal parking, when vehicle quadrilateral frame exceeds parking stall position
The distance of wire or the numerical value of area have exceeded respective threshold value, then rule-breaking vehicle stops.
The present invention compares the monitoring for realizing rule-breaking vehicle by image, reduces the operator in parking lot, can more accelerate
Speed and accurately reach recognition effect.
In order to realize above-mentioned purpose of the invention, according to the second aspect of the invention, the present invention provides a kind of violations
Parking identifying system comprising camera, processor and alarming device, the camera collection image video information are simultaneously transferred to
Processor, the processor carry out illegal parking recognition methods according to the method described in the present invention, when rule-breaking vehicle parking, place
It manages device control alarming device and issues information warning.
The position of illegal parking identifying system Direct Recognition vehicle of the invention, and remind and take pictures in time；Reduce parking
Operator, can recognition effect more quickly and accurately.
Specific embodiment
In the description of the present invention, it is to be understood that, term " longitudinal direction ", " transverse direction ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is to be driven based on vehicle
Front-rear position relationship when sailing, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.
In the description of the present invention, unless otherwise specified and limited, it should be noted that term " installation ", " connected ",
" connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, the connection being also possible to inside two elements can
, can also indirectly connected through an intermediary, for the ordinary skill in the art to be to be connected directly, it can basis
Concrete condition understands the concrete meaning of above-mentioned term.
The invention proposes a kind of illegal parking recognition methods comprising following steps:
Camera acquisition vehicle parking image/video information is simultaneously transferred to processor.
Processor establishes a cartesian space coordinate system in the wide-angle of camera.
Processor establishes the default quadrilateral frame of parking stall in the coordinate system.
Processor is identified and is handled to vehicle image, identifies the feature of vehicle, the feature includes tire, reflective
Mirror, one of headlamp or rear lamp or their any combination establish the quadrilateral frame for surrounding vehicle according to the feature；Such as
Using one group of tire of automobile feature, one group of reflective mirror, headlamp or rear lamp etc. as the reference line on the side of quadrangle, in this way
The quadrangle of foundation is more representative, the specific outer edge of available tire, the preceding sideline of headlamp and rear lamp
The quadrangle wire of sideline building vehicle afterwards.
The position at four angles of vehicle quadrilateral frame is judged in the XOY plane of cartesian space coordinate system, determination is being taken the photograph
As head horizontal plane in vehicle quadrilateral frame shape.
Preset the comparison judgement of quadrilateral frame shape in the parking stall of the shape for the vehicle quadrilateral frame that will identify that and this position
No violation stops.In the present embodiment, cartesian space coordinate system are as follows: be horizontally to the right X-axis using the lower left corner of wide-angle as origin
Positive direction, it is horizontal be forward Y-axis positive axis direction.Coordinate foundation be judge vehicle whether the important step of violation, this
Judgment basis is also determined, the position of camera is preferably fixed in present embodiment, and camera shooting wide-angle is fixed, so what it was established
Coordinate system should also be fixed.The rectangular shape of Flat-picture in fixed position camera is fixed.
In the present embodiment, deep learning and identification are carried out to vehicle characteristics using convolutional neural networks.When identifying
Dimensionality reduction is carried out after the feature of vehicle, and constructs vehicle characteristics matrix training convolutional neural networks.It is refreshing in convolution to the feature of extraction
It is trained under network, obtains the eigenmatrix information of vehicle in total.Specific neural network structure and deep learning training
And knowledge method for distinguishing can use the prior art.
In the present embodiment, camera be mounted in apart from ground level be x meter, the x for higher than vehicle numerical value (such as
4 meters), and the angle of its incidence angle and horizontal plane is θ °, 30≤θ≤60, preferably 45 °.If vehicle is parked in apart from camera water
At flat subpoint position y meters, coordinate value of the vehicle in the coordinate system of horizontal plane is p (0, y), and processor obtains at this coordinate
The wire of the corresponding quadrangle in parking stall, if the quadrilateral frame of vehicle and the parking stall quadrilateral frame of budget mismatch (such as vehicle
Quadrilateral frame at there is no the quadrilateral frame of the quadrilateral frame of parking stall or vehicle and the quadrilateral frame of parking stall to partially overlap,
Or the quadrilateral frame of vehicle is significantly greater than the quadrilateral frame of parking stall), then judge vehicle parking in violation of rules and regulations.Be labeled and and Times
It warns staff and photographs to record.
In the other preferred embodiment of the present invention, it can also identify vehicle whether in violation of rules and regulations with the following method: processing
The first background picture with parking stall position quadrangle wire can also be prestored in device, camera acquires vehicle image/video letter
The quadrilateral frame of vehicle is ceased, identifies vehicle and obtain, the vehicle image video background for carrying quadrilateral frame is removed, will be removed
Image after background is merged with the first background picture, compares distance and area that vehicle quadrilateral frame exceeds parking stall position wire,
When the numerical value of distance and area of the vehicle quadrilateral frame beyond parking stall position wire is without departing from respective threshold value, then vehicle does not have
Illegal parking；When distance of the vehicle quadrilateral frame beyond parking stall position wire or the numerical value of area have exceeded respective threshold value, then vehicle
Illegal parking.It is labeled and alert operation personnel and photographs to record in time.
In the present embodiment, distance of the vehicle rectangle frame beyond parking stall position wire is the point on vehicle rectangle frame to vehicle
The maximum normal distance of rectangle frame.To improve judgement precision, the interference of lines noise in scene is avoided.
It in the present embodiment, further include alarming device, the signal output end connection of the alarming device and processor, when
When rule-breaking vehicle stops, the alarming device issues information warning.
The present invention also provides a kind of illegal parking identifying systems comprising camera, processor and alarming device, it is described
Camera collection image video information is simultaneously transferred to processor, and the processor carries out stopping in violation of rules and regulations according to the method described in the present invention
Vehicle recognition methods, when rule-breaking vehicle parking, processor controls alarming device and issues information warning.Direct Recognition vehicle of the present invention
Position, and remind and take pictures in time；The operator for reducing parking lot can more quickly and accurately reach identification effect
Fruit.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (8)
1. a kind of illegal parking recognition methods, which comprises the steps of:
Camera collection image video information is simultaneously transferred to processor；
Processor establishes a cartesian space coordinate system in the wide-angle of camera；
Processor establishes the default quadrilateral frame of parking stall in the coordinate system；
Processor is identified and is handled to vehicle image, identifies that the feature of vehicle, the feature include tire, reflective mirror is preceding
One of illuminator or rear lamp or their any combination establish the quadrilateral frame for surrounding vehicle according to the feature；In Descartes
The position at four angles of vehicle quadrilateral frame is judged in space coordinates XOY plane, determines the vehicle in the horizontal plane of camera
The shape of quadrilateral frame；
It presets the comparison of quadrilateral frame shape and judges whether to disobey in the parking stall of the shape for the vehicle quadrilateral frame that will identify that and this position
Rule parking.
2. illegal parking recognition methods as described in claim 1, which is characterized in that cartesian space coordinate system are as follows: with wide-angle
The lower left corner be origin, be horizontally to the right the positive direction of X-axis, level be forward Y-axis positive axis direction.
3. illegal parking recognition methods as described in claim 1, which is characterized in that using convolutional neural networks to vehicle characteristics
Carry out deep learning and identification.
4. illegal parking recognition methods as described in claim 1, which is characterized in that it is x that camera, which is mounted in apart from ground level,
Rice, the x is the numerical value higher than vehicle, and the angle of its incidence angle and horizontal plane is θ °, 30≤θ≤60；
If vehicle is parked at position y meters of point of camera floor projection, coordinate value of the vehicle in the coordinate system of horizontal plane is p
(0, y), processor obtains the corresponding quadrangle wire in parking stall at this coordinate, if the vehicle of the quadrilateral frame of vehicle and budget
Position quadrangle wire mismatches, then judges vehicle parking in violation of rules and regulations.
5. illegal parking recognition methods as described in claim 1, which is characterized in that can also prestore in processor with vehicle
First background picture of position position wire mark, camera acquisition vehicle image/video information identify vehicle and obtain vehicle
Quadrilateral frame removes the vehicle image video background for carrying quadrilateral frame, by the image and the first background after removal background
Distance and area that vehicle quadrilateral frame exceeds parking stall position wire are compared in picture fusion, when vehicle quadrilateral frame exceeds parking stall
The distance of position wire and the numerical value of area are without departing from respective threshold value, then vehicle does not have illegal parking, when vehicle quadrangle
The numerical value of distance or area of the frame beyond parking stall position wire has exceeded respective threshold value, then rule-breaking vehicle stops.
6. illegal parking recognition methods as described in claim 1, which is characterized in that take out camera collection image video
Sample extracts, and obtains the video pictures stream of low frame per second.
7. illegal parking recognition methods as described in claim 1, which is characterized in that it further include alarming device, the warning dress
It sets and is connect with the signal output end of processor, when rule-breaking vehicle parking, the alarming device issues information warning.
8. a kind of illegal parking identifying system, which is characterized in that including camera, processor and alarming device, the camera
Acquisition image/video information is simultaneously transferred to processor, and the processor carries out separated according to method described in one of claim 1-7
Rule parking recognition methods, when rule-breaking vehicle parking, processor controls alarming device and issues information warning.
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| CN201811305808.5A CN109389829A (en) | 2018-11-05 | 2018-11-05 | A kind of illegal parking recognition methods and system |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110176151A (en) * | 2019-06-17 | 2019-08-27 | 北京精英路通科技有限公司 | A kind of method, apparatus, medium and the equipment of determining parking behavior |
| CN110299028A (en) * | 2019-07-31 | 2019-10-01 | 深圳市捷顺科技实业股份有限公司 | Method, apparatus, equipment and the readable storage medium storing program for executing of line detection are got in a kind of parking |
| CN110400036A (en) * | 2019-04-15 | 2019-11-01 | 泰州市朗嘉尚网络科技有限公司 | Manpower distribution system based on computer analysis |
| CN110700138A (en) * | 2019-08-27 | 2020-01-17 | 张雪华 | Intelligent monitoring method and system based on parking space identification |
| CN110706507A (en) * | 2019-09-16 | 2020-01-17 | 西安艾润物联网技术服务有限责任公司 | Parking management method and device |
| CN110852236A (en) * | 2019-11-05 | 2020-02-28 | 浙江大华技术股份有限公司 | Target event determination method and device, storage medium and electronic device |
| CN111243024A (en) * | 2020-01-14 | 2020-06-05 | 上海钧正网络科技有限公司 | Parking area identification system and method, detection system and method and security system |
| CN111681443A (en) * | 2020-04-29 | 2020-09-18 | 北京聚利科技有限公司 | Parking management method, device, system, electronic equipment and storage medium |
| TWI708696B (en) * | 2019-05-08 | 2020-11-01 | 神達數位股份有限公司 | Method and system for parking behavior evaluating |
| CN111915898A (en) * | 2020-07-24 | 2020-11-10 | 杭州金通科技集团股份有限公司 | Parking monitoring AI electronic post house |
| CN112419733A (en) * | 2020-10-16 | 2021-02-26 | 杭州智行星科技有限公司 | Method, device, equipment and storage medium for detecting irregular parking of user |
| CN113643544A (en) * | 2021-10-13 | 2021-11-12 | 南通东信车厢制造有限公司 | Intelligent detection method and system for illegal parking in parking lot based on Internet of things |
| CN114710645A (en) * | 2022-03-25 | 2022-07-05 | 上海商汤科技开发有限公司 | Parking lot management method and system, terminal and computer readable storage medium |
| CN114973682A (en) * | 2022-05-17 | 2022-08-30 | 渤海大学 | Mobile intelligent vehicle identification device and method based on cloud computing |
| CN115641727A (en) * | 2022-10-18 | 2023-01-24 | 重庆交通大学 | Parking space management method based on video recognition |
| CN115830881A (en) * | 2023-02-20 | 2023-03-21 | 常州海图信息科技股份有限公司 | Parking detection method and device |
| CN117765417A (en) * | 2023-12-20 | 2024-03-26 | 城市大脑(广州)科技有限公司 | Shared vehicle inspection method and device based on unmanned aerial vehicle and storage medium |
| CN117831261A (en) * | 2023-11-06 | 2024-04-05 | 城市大脑(广州)科技有限公司 | Image recognition and satellite positioning based shared electric bicycle operation supervision method |
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| CN110400036A (en) * | 2019-04-15 | 2019-11-01 | 泰州市朗嘉尚网络科技有限公司 | Manpower distribution system based on computer analysis |
| TWI708696B (en) * | 2019-05-08 | 2020-11-01 | 神達數位股份有限公司 | Method and system for parking behavior evaluating |
| CN110176151A (en) * | 2019-06-17 | 2019-08-27 | 北京精英路通科技有限公司 | A kind of method, apparatus, medium and the equipment of determining parking behavior |
| CN110299028A (en) * | 2019-07-31 | 2019-10-01 | 深圳市捷顺科技实业股份有限公司 | Method, apparatus, equipment and the readable storage medium storing program for executing of line detection are got in a kind of parking |
| CN110700138A (en) * | 2019-08-27 | 2020-01-17 | 张雪华 | Intelligent monitoring method and system based on parking space identification |
| CN110706507A (en) * | 2019-09-16 | 2020-01-17 | 西安艾润物联网技术服务有限责任公司 | Parking management method and device |
| CN110852236A (en) * | 2019-11-05 | 2020-02-28 | 浙江大华技术股份有限公司 | Target event determination method and device, storage medium and electronic device |
| CN111243024A (en) * | 2020-01-14 | 2020-06-05 | 上海钧正网络科技有限公司 | Parking area identification system and method, detection system and method and security system |
| CN111681443A (en) * | 2020-04-29 | 2020-09-18 | 北京聚利科技有限公司 | Parking management method, device, system, electronic equipment and storage medium |
| CN111915898A (en) * | 2020-07-24 | 2020-11-10 | 杭州金通科技集团股份有限公司 | Parking monitoring AI electronic post house |
| CN112419733A (en) * | 2020-10-16 | 2021-02-26 | 杭州智行星科技有限公司 | Method, device, equipment and storage medium for detecting irregular parking of user |
| CN113643544A (en) * | 2021-10-13 | 2021-11-12 | 南通东信车厢制造有限公司 | Intelligent detection method and system for illegal parking in parking lot based on Internet of things |
| CN113643544B (en) * | 2021-10-13 | 2022-06-07 | 南通东信车厢制造有限公司 | Intelligent detection method and system for illegal parking in parking lot based on Internet of things |
| CN114710645A (en) * | 2022-03-25 | 2022-07-05 | 上海商汤科技开发有限公司 | Parking lot management method and system, terminal and computer readable storage medium |
| CN114973682A (en) * | 2022-05-17 | 2022-08-30 | 渤海大学 | Mobile intelligent vehicle identification device and method based on cloud computing |
| CN114973682B (en) * | 2022-05-17 | 2023-06-13 | 渤海大学 | A mobile intelligent vehicle identification device and method based on cloud computing |
| CN115641727A (en) * | 2022-10-18 | 2023-01-24 | 重庆交通大学 | Parking space management method based on video recognition |
| CN115830881A (en) * | 2023-02-20 | 2023-03-21 | 常州海图信息科技股份有限公司 | Parking detection method and device |
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