CN109753840B - Method, system and storage medium for determining parking space line corner points based on response values - Google Patents
Method, system and storage medium for determining parking space line corner points based on response values Download PDFInfo
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Abstract
The invention provides a method, a system and a storage medium for determining a parking space line corner point based on a response value, which comprise the following steps: acquiring a captured image, and preprocessing to obtain brightness values of all pixel points on the captured image; taking each pixel point on the captured image as an origin point by taking the coordinate point where the pixel point is positioned, and sequentially taking a parking space main direction pixel point group and two parking space vertical direction pixel point groups which extend in opposite directions along the origin point to the parking space main direction and the parking space main direction. The obtained brightness contrast response value of each pixel point is arranged according to the coordinate point of the pixel point to form a corner brightness contrast response image of the captured image; and judging the parking space line corner point with the maximum credibility in the captured image according to the distribution condition of the brightness contrast response values of all coordinate points in the corner brightness contrast response image, and further judging the brightness contrast response value point with the maximum credibility as the parking space line corner point.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted electronics, in particular to a method, a system and a storage medium for determining a parking space line corner point based on a response value.
Background
The increase of the automobile storage quantity promotes the development of large-scale parking lots, and in twenty-first century, the large-scale parking lots are more and more, and the increasing of the scale of the parking lots brings a series of problems of parking and taking vehicles, so that the large-scale parking lots become the social problems generally faced by each large-scale and medium-scale city worldwide.
In the autonomous parking process, how to quickly and accurately identify the corner points of the parking space becomes the current urgent problem to be solved according to the environment sensing information, the accurate parking space is detected, and the calculated amount of equipment is reduced in the detection process.
The existing method for calculating the corner points of the parking space lines is that line segments are identified on captured images according to pixel brightness differences, horizontal bright lines and vertical bright lines which meet the conditions are found out through the line segments, intersection points of the central lines of the two sides of the horizontal bright lines and the central lines of the two sides of the vertical bright lines are found out, and the corner points of the parking space lines are judged. The method for identifying the parking space line corner point has high accuracy requirement on the step of searching the horizontal bright line and the vertical bright line which meet the conditions, and if the found horizontal bright line and the vertical bright line have the vertical bright line or the horizontal bright line generated by other interference such as reflection, the identified parking space line corner point is inaccurate.
Disclosure of Invention
In order to solve the above and other potential technical problems, the invention provides a method, a system and a storage medium for determining a parking space line corner point based on a response value, which solve the problem of inaccurate identification of the parking space line corner point, judge the position of each pixel point in a captured image to be the brightness contrast response value X of a T-shaped parking space line corner point and an L-shaped parking space line corner point by calculating the judgment factors of the pixel point in the parking space main direction and the parking space vertical direction, further obtain a corner brightness contrast response image, and judge the brightness contrast response value point with the maximum reliability as the parking space line corner point according to the distribution condition of the brightness contrast response values of all coordinate points in the corner brightness contrast response image.
A method for determining a parking space line corner point based on a response value comprises the following steps:
s01: acquiring a captured image, and preprocessing to obtain brightness values of all pixel points on the captured image;
s02: taking each pixel point on the captured image as an origin point by taking the coordinate point of the pixel point as the origin point, and sequentially taking a parking space main direction pixel point group and two parking space vertical direction pixel point groups which extend in opposite directions along the origin point to the parking space main direction and the parking space main direction;
marking the brightness contrast value of the pixel point Pl by taking the average value of brightness differences between each pixel point Plx in the main direction pixel point group and two pixel points Pd1x and Pd2x which are positioned on two sides of the main direction pixel point group and are positioned on the same straight line with the pixel point, and marking the average value of brightness contrast values of all pixel points Plx in the main direction pixel point group as a main direction corner judgment factor a;
the formula for calculating the brightness contrast value of the pixel Plx is as follows: px= (Plx x 2-Pd1x-Pd2 x)/2; x=1, 2,3,4,5,6 … n;
the calculation formula of the principal direction corner judgment factor a is as follows: a= (p1+p2+p3 … Pn)/n;
marking the brightness contrast value of each pixel Pc in each parking space vertical direction pixel point group and two pixel points Pd1y and Pd2y which are positioned on two sides of the parking space vertical direction pixel point group and are positioned on the same straight line with the pixel point Pl by taking the average value of brightness differences, and marking the average value of the brightness contrast values of all the pixel points Pl in the parking space vertical direction pixel point group as a vertical direction corner point judgment factor b and a vertical direction corner point judgment factor c after solving the brightness contrast values of all the pixel points Pl in the parking space vertical direction pixel point group;
the formula for calculating the brightness contrast value of the pixel point Ply is as follows: py= (Ply x 2-Pd1y-Pd2 y)/2; y=1, 2,3,4,5,6 … m;
the calculation formula of the vertical direction corner point judgment factor b is as follows: b= (p1+p2+p … Pm)/m;
the calculation formula of the vertical direction corner point judgment factor c is as follows: b= (p1+p2+p … Pm)/m;
according to the logic formula: x=min (MAX (a, b), c) to derive a luminance-contrast response value X for each pixel in the captured image;
s03: arranging the brightness contrast response value X of each pixel point obtained in the step S02 according to the coordinate point of the pixel point to form a corner brightness contrast response image of the captured image;
s04: and judging the parking spot line corner point with the maximum credibility in the captured image according to the distribution condition of the brightness contrast response values of all coordinate points in the corner brightness contrast response image.
Further, the method for obtaining the main direction of the parking space in step S02 includes: acquiring a captured image, detecting line segments in the captured image, grouping the detected line segments according to angles, analyzing the position relationship among the line segments in each group, scoring according to a certain rule, selecting the most reliable angle group according to the score, extracting the line segments in the most reliable angle group, calculating the average angle of the line segments, and defining the average angle as a main direction angle theta.
Further, the number of pixels extending along the main direction of the parking space in the main direction pixel group obtained in step S02 is at least 6-8, and the number of pixels extending along the vertical direction of the parking space in the parking space vertical direction pixel group is at least 6-8.
Further, at least two columns of pixels extending along the main direction of the parking space are in the main direction pixel group acquired in step S02.
For example: two rows of pixel points extending along the main direction of the parking space are marked as pixel point rows n1 and n2; the luminance values of the pixels in the pixel column n1 are labeled (Pl 1, pl2, pl3, pl4 …), and the luminance values of the pixels in the pixel column n2 are labeled (Pl 1, pl2, pl3, pl 4); when the brightness contrast value of the pixel in the main direction pixel group is taken, the pixel in the same main direction position in the pixel columns n1 and n2 is extracted, and the average value is taken as the virtual pixel brightness value on the straight line corresponding to the Pl1 and Pl1 in the main direction pixel group when the brightness contrast value is calculated in the step S02 by using the formula (Pl1+pl1)/2.
Further, the logic formula: and (3) detecting the corner points comprising the T-shaped parking space line and the L-shaped parking space line by X=MIN (MAX (a, b, c), recording the brightness contrast response value higher than the threshold value and the coordinate point thereof if more than one brightness contrast response value higher than the threshold value appears at the adjacent pixel points in the detection process, and taking a weighted average value to obtain the final brightness contrast response value.
As described above, the present invention has the following advantageous effects:
firstly, judging that the pixel point position is the brightness contrast response value X of a T-shaped parking space line corner point and an L-shaped parking space line corner point by calculating the judging factors of each pixel point in the captured image in the main parking space direction and the vertical parking space direction, further obtaining a corner brightness contrast response image, and judging that the brightness contrast response value point with the maximum reliability is the parking space line corner point according to the distribution condition of the brightness contrast response values of all coordinate points in the corner brightness contrast response image.
Secondly, when the brightness contrast value of the judging factor is calculated, a plurality of columns of pixel points are taken in the same direction in the main direction pixel point group of the parking space or the vertical direction pixel point group of the parking space, the brightness values of the pixel points in the same position along the direction in different columns are averaged, and then the average value of the difference values is taken with the pixel points at two sides outside the pixel point group where the brightness values are positioned, so that the reliability of the obtained brightness contrast value is high, and the reliability of the obtained judging factor is also high.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a flow chart of the present invention.
Fig. 2 shows a schematic diagram of a main direction pixel group of a parking space and two vertical direction pixel groups of the parking space extending in opposite directions.
Fig. 3 shows a schematic diagram of pixels for obtaining Plx brightness contrast values for a main direction pixel group of a parking space.
Fig. 4 shows a schematic diagram of pixels for obtaining Ply brightness contrast value for a group of pixels in a vertical direction of a parking space.
Fig. 5 is a schematic diagram of pixels for obtaining Ply brightness contrast value when two rows of pixels exist in the parking space vertical direction pixel group.
Fig. 6 shows a captured image of the present invention.
Fig. 7 shows a corner luminance contrast response image of the invention on the left side and the captured image on the right side.
In the figure: 1-origin; 2-parking space main direction; 3-the main direction of the parking space is vertical; 21-a main direction pixel point group; 31-a parking space vertical direction pixel point group; 4-pixel points.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that it can be practiced, since modifications, changes in the proportions, or otherwise, used in the practice of the invention, are not intended to be critical to the essential characteristics of the invention, but are intended to fall within the spirit and scope of the invention. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.
Referring to fig. 1 to 7, a method for determining a parking space line corner point based on a response value includes the following steps:
s01: acquiring a captured image, and preprocessing to obtain brightness values of all pixel points on the captured image;
s02: taking each pixel point on the captured image as an origin point by taking the coordinate point of the pixel point as the origin point, and sequentially taking a parking space main direction pixel point group and two parking space vertical direction pixel point groups which extend in opposite directions along the origin point to the parking space main direction and the parking space main direction;
marking the brightness contrast value of the pixel point Pl by taking the average value of brightness differences between each pixel point Plx in the main direction pixel point group and two pixel points Pd1x and Pd2x which are positioned on two sides of the main direction pixel point group and are positioned on the same straight line with the pixel point, and marking the average value of brightness contrast values of all pixel points Plx in the main direction pixel point group as a main direction corner judgment factor a;
the formula for calculating the brightness contrast value of the pixel Plx is as follows: px= (Plx x 2-Pd1x-Pd2 x)/2; x=1, 2,3,4,5,6 … n;
the calculation formula of the principal direction corner judgment factor a is as follows: a= (p1+p2+p3 … Pn)/n;
marking the brightness contrast value of each pixel point Ply in the vertical direction pixel point group of each parking space and the average value of brightness differences of two pixel points Pd1y and Pd2y which are positioned on two sides of the vertical direction pixel point group of each parking space and are positioned on the same straight line with the pixel point Ply, calculating the brightness contrast value of all the pixel points Ply in the vertical direction pixel point group of each parking space, and then calculating the average value of the brightness contrast values to be marked as a vertical direction corner point judgment factor b and a vertical direction corner point judgment factor c;
the formula for calculating the brightness contrast value of the pixel point Ply is as follows: py= (Ply x 2-Pd1y-Pd2 y)/2; y=1, 2,3,4,5,6 … m;
the calculation formula of the vertical direction corner point judgment factor b is as follows: b= (p1+p2+p … Pm)/m;
the calculation formula of the vertical direction corner point judgment factor c is as follows: b= (p1+p2+p … Pm)/m;
according to the logic formula: x=min (MAX (a, b), c) to derive a luminance-contrast response value for each pixel point Pl in the captured image;
s03: arranging the brightness contrast response value of each pixel point obtained in the step S02 according to the coordinate point of the pixel point to form a corner brightness contrast response image of the captured image; and judging the parking spot line corner point with the maximum credibility in the captured image according to the distribution condition of the brightness contrast response values of all coordinate points in the corner brightness contrast response image.
As a preferred embodiment, the method for obtaining the main direction of the parking space in step S02 includes: acquiring a captured image, detecting line segments in the captured image, grouping the detected line segments according to angles, analyzing the position relationship among the line segments in each group, scoring according to a certain rule, selecting the most reliable angle group according to the score, extracting the line segments in the most reliable angle group, calculating the average angle of the line segments, and defining the average angle as a main direction angle theta.
As a preferred embodiment, the number of pixels extending along the main direction of the parking space in the main direction pixel group obtained in the step S02 is at least 6-8, and the number of pixels extending along the vertical direction of the parking space in the parking space vertical direction pixel group is at least 6-8.
In the preferred embodiment, at least two columns of pixels extending along the main direction of the parking space are in the main direction pixel group acquired in step S02.
For example: two rows of pixel points extending along the main direction of the parking space are marked as pixel point rows n1 and n2; the luminance values of the pixels in the pixel column n1 are labeled (Pl 1, pl2, pl3, pl4 …), and the luminance values of the pixels in the pixel column n2 are labeled (Pl 1, pl2, pl3, pl 4); when the brightness contrast value of the pixel in the main direction pixel group is taken, the pixel in the same main direction position in the pixel columns n1 and n2 is extracted, and the average value is taken as the virtual pixel brightness value on the straight line corresponding to the Pl1 and Pl1 in the main direction pixel group when the brightness contrast value is calculated in the step S02 by using the formula (Pl1+pl1)/2.
As a preferred embodiment, the logic formula: and (3) detecting the corner points comprising the T-shaped parking space line and the L-shaped parking space line by X=MIN (MAX (a, b, c), recording the brightness contrast response value higher than the threshold value and the coordinate point thereof if more than one brightness contrast response value higher than the threshold value appears at the adjacent pixel points in the detection process, and taking a weighted average value to obtain the final brightness contrast response value.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims of this invention, which are within the skill of those skilled in the art, be included within the spirit and scope of this invention.
Claims (8)
1. A method for determining a parking space line corner point based on a response value comprises the following steps:
s01: acquiring a captured image, and preprocessing to obtain brightness values of all pixel points on the captured image;
s02: taking each pixel point on the captured image as an origin point by taking the coordinate point of the pixel point as the origin point, and sequentially taking a parking space main direction pixel point group and two parking space vertical direction pixel point groups which extend in opposite directions along the origin point to the parking space main direction and the parking space main direction;
each pixel Plx in the main direction pixel group and two pixels Pd1x and Pd2x which are positioned on two sides of the main direction pixel group and are positioned on the same straight line with the pixel are used for taking the average value of brightness difference to mark the brightness contrast value of the pixel P1, and the average value of the brightness contrast values of all pixels Plx in the main direction pixel group is obtained to be marked as a main direction corner judgment factor a;
the formula for calculating the brightness contrast value of the pixel Plx is as follows: px= (P1 x 2-Pd1x-Pd2 x)/2; x=1, 2,3,4,5,6 … n;
the calculation formula of the principal direction corner judgment factor a is as follows: a= (p1+p2+p3 … Pn)/n;
marking the brightness contrast value of each pixel point Ply in the vertical direction pixel point group of each parking space and two pixel points Pd1y and Pd2y which are positioned on two sides of the vertical direction pixel point group of each parking space and are positioned on the same straight line with the pixel point Ply by taking the average value of brightness differences, and marking the average value of the brightness contrast values of all the pixel points Ply in the vertical direction pixel point group of each parking space as a vertical direction corner point judgment factor b and a vertical direction corner point judgment factor c after solving the brightness contrast values of all the pixel points Ply in the vertical direction pixel point group of each parking space;
the formula for calculating the brightness contrast value of the pixel point Ply is as follows: py= (Ply x 2-Pd1y-Pd2 y)/2; y=1, 2,3,4,5,6 … m;
the calculation formula of the vertical direction corner point judgment factor b is as follows: b= (p1+p2+p … Pm)/m;
the calculation formula of the vertical direction corner point judgment factor c is as follows: b= (p1+p2+p … Pm)/m;
according to the logic formula: x=min (MAX (a, b), c) to derive a luminance-contrast response value for each pixel point Pl in the captured image;
s03: arranging the brightness contrast response value of each pixel point obtained in the step S02 according to the coordinate point of the pixel point to form a corner brightness contrast response image of the captured image; and judging the parking spot line corner point with the maximum credibility in the captured image according to the distribution condition of the brightness contrast response values of all coordinate points in the corner brightness contrast response image.
2. The method for determining a parking space line corner point based on a response value according to claim 1, wherein the method for acquiring the main direction of the parking space in step S02 is as follows: acquiring a captured image, detecting line segments in the captured image, grouping the detected line segments according to angles, analyzing the position relationship among the line segments in each group, scoring according to a certain rule, selecting the most reliable angle group according to the score, extracting the line segments in the most reliable angle group, calculating the average angle of the line segments, and defining the average angle as a main direction angle theta.
3. The method for determining the corner points of the parking space based on the response values according to claim 2, wherein the number of pixels extending along the main direction of the parking space in the main direction pixel point group obtained in the step S02 is at least 6-8, and the number of pixels extending along the vertical direction of the parking space in the vertical direction pixel point group of the parking space is at least 6-8.
4. The method for determining a parking space line corner point based on a response value according to claim 3, wherein at least two columns of pixels extending along a main direction of a parking space are in the main direction pixel point group obtained in step S02.
5. The method for determining a corner point of a parking space based on a response value according to claim 4, wherein the logic formula: and (3) detecting the corner points comprising the T-shaped parking space line and the L-shaped parking space line by X=MIN (MAX (a, b, c), recording the brightness contrast response value higher than the threshold value and the coordinate point thereof if more than one brightness contrast response value higher than the threshold value appears at the adjacent pixel points in the detection process, and taking a weighted average value to obtain the final brightness contrast response value.
6. A system for determining a corner point of a parking space line based on a response value implemented based on the method of claim 1, comprising:
the captured image acquisition module is used for acquiring a captured image;
the pixel point group generating module is used for generating a parking space main direction pixel point group and a parking space vertical direction pixel point group;
the main direction corner judgment factor generation module is used for generating a main direction corner judgment factor a;
the vertical direction corner judgment factor generation module is used for generating a vertical direction corner judgment factor b and a vertical direction corner judgment factor c;
the corner brightness contrast response image generation module is used for generating a corner brightness contrast response image according to a logic formula: x=min (MAX (a, b), c) generates a luminance-contrast response value for each pixel in the captured image, thereby obtaining a corner luminance-contrast response image.
7. The system for determining a parking space line corner point based on a response value according to claim 6, further comprising a parking space main direction determining module, wherein the parking space main direction determining module is configured to self-capture an image and detect line segments in the captured image, group the detected line segments according to angles, analyze a positional relationship among the line segments in each group, score according to a certain rule, select a most reliable angle group according to the score, extract line segments in the most reliable angle group, calculate an average angle of the line segments, and define a main direction angle θ.
8. A computer-readable storage medium having stored thereon a computer program, characterized by: the program is to implement the steps of the method of any of claims 1 to 5 when executed by a processor.
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| CN115206130B (en) * | 2022-07-12 | 2023-07-18 | 合众新能源汽车股份有限公司 | Parking space detection method, system, terminal and storage medium |
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