CN110322680A - A kind of bicycle position detecting method, system, terminal and storage medium based on specified point - Google Patents
A kind of bicycle position detecting method, system, terminal and storage medium based on specified point Download PDFInfo
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- CN110322680A CN110322680A CN201810269671.6A CN201810269671A CN110322680A CN 110322680 A CN110322680 A CN 110322680A CN 201810269671 A CN201810269671 A CN 201810269671A CN 110322680 A CN110322680 A CN 110322680A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
- G06V20/46—Extracting features or characteristics from the video content, e.g. video fingerprints, representative shots or key frames
- G06V20/47—Detecting features for summarising video content
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
Abstract
The present invention provides a kind of bicycle position detecting method, system, terminal and storage medium based on specified point, obtains capture image, processing capture image obtains image-element, and obtains specified location in user；Parking space detection area is calculated with specified location in user, image-element is screened with parking space detection area, retains the image-element in image-element in parking space detection area range as detection parking stall element；Setting detection parking stall judgment rule；It is grouped according to parking stall direction to all detection parking stall PRELIMINARY RESULTSs, the confidence value of the detection parking stall result of more each group of acquisition, using confidence value maximum value as best parking stall.The present invention reduces the calculation amount of identification parking bit processor in the way of user specified point.And parking stall confidence level is worth size, response vertex type correspondence, response point according to response and corresponds to the COMPREHENSIVE CALCULATINGs confidence levels such as line direction, parking stall width, increases the accuracy of best parking stall.
Description
Technical field
The present invention relates to vehicle electronics technical field, more particularly to a kind of bicycle position detecting method based on specified point,
System, terminal and storage medium.
Background technique
The increase of car ownership promotes the development of large parking lot, and since marching toward 21st century, ours is big
Type parking lot is more and more, and parking lot scale is growing, and brings a series of the problem of parking with picking up the car, at
The social concern generally faced for large- and-medium size cities each in world wide.
During autonomous parking, majority parking stall position is identified by image recognition mode and obtains at present.Know at present
The method on other parking stall is to calculate all parking stalls shown on image to capture image.But calculate whole parking stall meetings
The calculation amount of host-processor is caused to increase, delay time is elongated.In the interior increased situation of frame rate per second, also result in
The problem of memory overflow.In order to while the calculation amount for minimizing processor, moreover it is possible to obtain comprising client's Chosen Point most
Good parking stall, the application give a kind of bicycle position detecting method, system, terminal and storage medium based on specified point.
Summary of the invention
In order to solve above-mentioned and other potential technical problems, the present invention provides a kind of bicycles based on specified point
Position detecting method, system, terminal and storage medium, first, in the way of user specified point, reduce at identification parking stall
Manage the calculation amount of device.Based on user specified point preliminary screening parking space detection area, filters the image except parking space detection area and know
The element not obtained；The element only obtained to image recognition in parking space detection area includes that vertex response, line segment carry out vehicle
Position detection, obtains two horizontal parking stall group, vertical parking stall group detection parking stall PRELIMINARY RESULTSs respectively.Second, it is preliminary to parking stall measure
As a result horizontal parking stall group and vertical parking stall group in carry out reliability scoring respectively, and obtain detection parking stall PRELIMINARY RESULTS respectively
Confidence level scoring.The candidate parking stall for detecting parking stall PRELIMINARY RESULTS carries out the marking of parking stall confidence level and according to candidate parking stall
Marking value selects the highest candidate parking stall of confidence level as best parking stall.Third increases the choosing on strong jamming region parking stall
Rule is selected, is specifically exactly to confidence value approximately according to the selection rule of the parking hyte of parking stall angle classification.Example
Such as, in level parking hyte the highest parking stall of confidence level according to can in the score value of reliability scoring and vertical parking hyte
The highest parking stall of reliability is less than or equal to strong jamming confidence level difference according to the confidence level difference between the score value of reliability scoring
When threshold value, best parking stall is determined according to extreme decision principle, it is corresponding that parking stall confidence level is worth size, response vertex type according to response
Property, response point correspond to the COMPREHENSIVE CALCULATINGs confidence levels such as line direction, parking stall width, increase the accuracy of best parking stall.
A kind of bicycle position detecting method based on specified point, comprising the following steps:
S01: capture image is obtained, processing capture image obtains image-element, and obtains specified location in user；
S02: calculating parking space detection area with specified location in user, screens image-element, reserved graph with parking space detection area
As being in the image-element of parking space detection area range in element as detection parking stall element；
S03: the detection parking stall element includes the parking stall principal direction determined and/or parking stall vertical direction, parking stall inspection
Survey the response of the parking stall vertex response point handled in regional scope and positional relationship, the parking stall measure of response point
All LSD line segments in regional scope, setting detection parking stall judgment rule；
S04: it is grouped according to parking stall direction to all detection parking stall PRELIMINARY RESULTSs, and at the beginning of the detection parking stall in each group
Step result is arranged successively with confidence value size, takes the highest vehicle of confidence value in the detection parking stall PRELIMINARY RESULTS in each group
Detection parking stall result of the position as the group；The confidence value of the detection parking stall result of more each group of acquisition again, if group and group
Between detection parking stall result confidence value difference be greater than confidence level difference threshold when, then using confidence value maximum value as most
Good parking stall；If the confidence value difference of the detection parking stall result between group and group is less than confidence level difference threshold, with extreme
Decision principle determines best parking stall.
Further, the image-element in the step S02 includes vertex response point, LSD line segment, specified point.
Further, in the step S02 according to specified location in user calculate parking space detection area the following steps are included:
S021: parking stall length characteristic range and width characteristics range in capture image are obtained；
S022: the up-and-down boundary of parking space detection area is determined；It is the vertex for capturing image bottom with specified point, refers to this
Fixed point top is in parking space detection area apart from longer position in specified point parking stall length characteristic range or width characteristics range
Boundary；It is the vertex for capturing image bottom with specified point, to specified point lower section apart from specified point parking stall length characteristic range
Or longer position is parking space detection area lower boundary in width characteristics range；
S023: width of the width as parking space detection area to capture image is examined by parking space detection area coboundary, parking stall
Survey region lower boundary, parking space detection area width surround the right boundary of parking space detection area, and composition parking space detection area is extraneous
Range.
Further, the step of parking stall principal direction and/or parking stall vertical direction for determining in the step S03, is: seeking
All angular errors and its corresponding number close to parallel and perpendicular lsd detection line segment arrived；According to each angle group
Cumulative errors, two direction line segment item numbers are comprehensive to choose reasonable angle；Determine whether angle needs to turn according to line segment group feature
It sets.
Further, the parking stall vertex response point handled within the scope of parking space detection area in the step S03
Response calculating step: according to parking stall principal direction, calculate along principal direction gradient map and vertical principal direction gradient map；It generates
Shape of template calculates idx, calculates the response of each pixel opposite formwork, response screening and merging.
Further, the specific steps of detection parking stall judgment rule are set in the step S03:
S031: screening one is in the top of specified point in the parking stall vertex response point included in detection parking stall element
A candidate parking stall vertex response point, a candidate parking stall vertex response point below specified point and from judgement
Confidence level maximum angle is chosen when parking stall principal direction and/or parking stall vertical direction in the group of resulting all angles direction；
S032: make the candidate parking stall vertex response point above specified point and the candidate parking stall vertex response point below specified point
Line and coordinate origin between angle be equal or approximately equal in angle direction group choose the maximum angle of confidence level；
S033: qualified two candidate parking stall response points for taking step S032 to filter out, and calculate two candidate vehicles
The distance between position response point is then sentenced when the distance between two candidate parking stall response points meet parking stall rational width range
The two candidate parking stall response points of breaking are two vertex of true parking stall, then combine the main side in parking stall by the position on the two vertex
To and parking stall length, obtain four apex coordinates of true parking stall, so obtain one detection parking stall PRELIMINARY RESULTS letter
Breath output.
Further, the highest vehicle of confidence value in the detection parking stall PRELIMINARY RESULTS in each group is taken in the step S04
It further include when at least two vertex in detection parking stall PRELIMINARY RESULTS are rung before position is as the detection parking stall result step of the group
When the response that should be put is all larger than the response threshold value of vertex response point, increase to the confidence value of the detection parking stall PRELIMINARY RESULTS
Add to it is few with have in the detection parking stall PRELIMINARY RESULTS greater than the vertex response point quantity of vertex response point threshold value is identical can
Certainty value；When the response of a vertex response point in detection parking stall PRELIMINARY RESULTS is all larger than the response of vertex response point
When threshold value, increase a confidence value to the confidence value of the detection parking stall PRELIMINARY RESULTS；It is wrapped when in detection parking stall PRELIMINARY RESULTS
No one of the vertex response point contained response is greater than vertex response point threshold value, then does not increase to detection parking stall PRELIMINARY RESULTS
Confidence level.
Further, the extreme decision principle in the step S04 determines the specific steps of best parking stall are as follows:
S041: when the confidence value difference of the detection parking stall result between group and group is less than confidence level difference threshold, first
Detection parking stall PRELIMINARY RESULTS is grouped with parking stall principal direction angle, then is the detection of horizontal direction parking stall principal direction angle
Parking stall result and parking stall principal direction angle are that the detection parking stall result of vertical direction screens, then compares parking stall principal stresses angle
Degree be that confidence value and the parking stall principal direction angle of the detection parking stall result group of horizontal direction are the detection parking stall knot of vertical direction
The confidence value of fruit group；
S042: when the confidence value and parking stall principal direction of the detection parking stall result group that parking stall principal direction angle is horizontal direction
Angle is that the difference of the confidence value of the detection parking stall result group of vertical direction is less than confidence level difference threshold, then determined level
The factor for the confidence value that whether has an impact within the scope of the detection parking stall result group in direction, the detection parking stall knot for judging vertical direction
The factor for the confidence value that whether has an impact within the scope of fruit group；
S043: if only having confidence value influence factor, compensation level within the scope of the detection parking stall result group of horizontal direction
The confidence value in direction is as credible with the detection parking stall result group of vertical direction again after new revised confidence value
Angle value compares；
If only having confidence value influence factor within the scope of the detection parking stall result group of vertical direction, vertical direction is compensated
Confidence value is as the confidence value ratio with the detection parking stall result group of horizontal direction again after new revised confidence value
Compared with；
If there is the detection parking stall of confidence value influence factor, vertical direction within the scope of the detection parking stall result group of horizontal direction
As a result organizing in range has confidence value influence factor, then is level side according to the parking stall principal direction angle obtained in step S041
To detection parking stall result group combination horizontal direction characteristic feature compensation level direction confidence value；Or according to step S041
In the parking stall principal direction angle that obtains be detection parking stall result group the combination vertical direction characteristic feature compensation of vertical direction vertically
The confidence value in direction.
Preferably, the horizontal direction characteristic feature to include by the short-term section of angle point be T-type or L-type and in length
Long line segment whether is detected between degree two angle point of direction.
Preferably, the vertical direction characteristic feature to include by the short-term section of angle point be T-type or L-type and in width
Short-term section whether is detected between degree two angle point of direction.
Preferably, when detection parking stall PRELIMINARY RESULTS being grouped with parking stall principal direction angle in the step S041, not only
The detection parking stall group for screening detection the parking stall result group and vertical direction of horizontal direction, can also filter out parking stall principal direction and incline
The inclination angle degree setting decision principle parameter of rake angle group, parking stall principal direction tilt angle group can obtain.
A kind of bicycle position detecting system based on specified point, including image capture module, parking space detection area generation module,
Parking stall element collection, detection parking stall judgment module, extreme determination module are detected,
For described image trapping module for obtaining capture image, processing capture image obtains image-element, and obtains user
Designated position；
The parking space detection area generation module is used to calculate parking space detection area with specified location in user；
Detection parking stall element collection is used to calculate parking space detection area with specified location in user, is sieved with parking space detection area
Image-element is selected, retains the image-element in image-element in parking space detection area range as detection parking stall element collection；
Based on the detection parking stall judgment module is used for the element to detect parking stall element concentration, sentenced according to detection parking stall
The judgment rule of disconnected module show that parking stall PRELIMINARY RESULTS is grouped, then analyzes the confidence level judgement of parking stall Preliminary detection result most preferably
Parking stall；
The extreme determination module is used at the beginning of the parking stall of different principal direction angles cannot be distinguished in detection parking stall judgment module
When walking result grouping, the confidence level using extreme determination module to parking stall Preliminary detection result is compensated, then with compensated credible
Degree determines best parking stall.
A kind of single parking stall measure terminal based on specified point, including processor and memory, the memory are stored with journey
Sequence instruction, the processor operation program instruction realize the step in above-mentioned method.
A kind of computer readable storage medium, is stored thereon with computer program, realization when which is executed by processor
Such as the step in above-mentioned method.
As described above, of the invention has the advantages that
First, in the way of user specified point, reduce the calculation amount of identification parking bit processor.It is specified based on user
Point preliminary screening parking space detection area filters the element that the image recognition except parking space detection area obtains；Only to parking stall measure
The element that image recognition obtains in region includes that vertex response, line segment carry out parking stall measure, obtains horizontal parking stall respectively
Two group, vertical parking stall group detection parking stall PRELIMINARY RESULTSs.Second, to the horizontal parking stall group in parking stall measure PRELIMINARY RESULTS and hang down
Straight turning hyte carries out reliability scoring respectively, and obtains the confidence level scoring of detection parking stall PRELIMINARY RESULTS respectively.At the beginning of detecting parking stall
The candidate parking stall for walking result carries out the marking of parking stall confidence level and selects the highest time of confidence level according to the marking value of candidate parking stall
Select parking stall as best parking stall.Third increases the selection rule on strong jamming region parking stall, is specifically exactly to can
Certainty value is approximately according to the selection rule of the parking hyte of parking stall angle classification.For example, the confidence level in level parking hyte
Highest parking stall is according to the score value of reliability scoring with the highest parking stall of confidence level in vertical parking hyte according to confidence level
When confidence level difference between the score value of marking is less than or equal to strong jamming confidence level difference threshold, sentenced according to extreme decision principle
Fixed best parking stall.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, right
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is shown as the testing result of initial dotted line.
Fig. 2 is shown pass by the dotted line testing result after step S02 screening.
Fig. 3 is shown pass by the detection parking stall PRELIMINARY RESULTS that step S03 is obtained.
Fig. 4 is shown pass by the best parking stall that step S04 is obtained.
Fig. 5 is shown as flow chart of the present invention.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also be by addition different specific
Embodiment is embodied or practiced, and the various details in this specification can also not carried on the back based on different viewpoints and application
From carrying out various modifications or alterations under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and
Feature in embodiment can be combined with each other.
It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification to be taken off
The content shown is not intended to limit the invention enforceable qualifications so that those skilled in the art understands and reads,
Therefore not having technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing this
Under the effect of invention can be generated and the purpose that can reach, it should all still fall in disclosed technology contents and obtain and can contain
In the range of lid.Meanwhile cited such as "upper" in this specification, "lower", "left", "right", the use of " centre " and " one "
Language is merely convenient to being illustrated for narration, rather than to limit the scope of the invention, the change of relativeness or tune
It is whole, under the content of no substantial changes in technology, when being also considered as the enforceable scope of the present invention.
Referring to FIG. 1 to FIG. 5,
A kind of bicycle position detecting method based on specified point, comprising the following steps:
S01: capture image is obtained, processing capture image obtains image-element, and obtains specified location in user；
S02: calculating parking space detection area with specified location in user, screens image-element, reserved graph with parking space detection area
As being in the image-element of parking space detection area range in element as detection parking stall element；
S03: the detection parking stall element includes the parking stall principal direction determined and/or parking stall vertical direction, parking stall inspection
Survey the response of the parking stall vertex response point handled in regional scope and positional relationship, the parking stall measure of response point
All LSD line segments in regional scope, setting detection parking stall judgment rule；
S04: it is grouped according to parking stall direction to all detection parking stall PRELIMINARY RESULTSs, and at the beginning of the detection parking stall in each group
Step result is arranged successively with confidence value size, takes the highest vehicle of confidence value in the detection parking stall PRELIMINARY RESULTS in each group
Detection parking stall result of the position as the group；The confidence value of the detection parking stall result of more each group of acquisition again, if group and group
Between detection parking stall result confidence value difference be greater than confidence level difference threshold when, then using confidence value maximum value as most
Good parking stall；If the confidence value difference of the detection parking stall result between group and group is less than confidence level difference threshold, with extreme
Decision principle determines best parking stall.
Further, the image-element in the step S02 includes vertex response point, LSD line segment, specified point.
Further, in the step S02 according to specified location in user calculate parking space detection area the following steps are included:
S021: parking stall length characteristic range and width characteristics range in capture image are obtained；
S022: the up-and-down boundary of parking space detection area is determined；It is the vertex for capturing image bottom with specified point, refers to this
Fixed point top is in parking space detection area apart from longer position in specified point parking stall length characteristic range or width characteristics range
Boundary；It is the vertex for capturing image bottom with specified point, to specified point lower section apart from specified point parking stall length characteristic range
Or longer position is parking space detection area lower boundary in width characteristics range；
S023: width of the width as parking space detection area to capture image is examined by parking space detection area coboundary, parking stall
Survey region lower boundary, parking space detection area width surround the right boundary of parking space detection area, and composition parking space detection area is extraneous
Range.
Further, the step of parking stall principal direction and/or parking stall vertical direction for determining in the step S03, is: seeking
All angular errors and its corresponding number close to parallel and perpendicular LSD detection line segment arrived；According to each angle group
Cumulative errors, two direction line segment item numbers are comprehensive to choose reasonable angle；Determine whether angle needs to turn according to line segment group feature
It sets.
Further, the parking stall vertex response point handled within the scope of parking space detection area in the step S03
Response calculating step: according to parking stall principal direction, calculate along principal direction gradient map and vertical principal direction gradient map；It generates
Shape of template calculates idx, calculates the response of each pixel opposite formwork, response screening and merging.
Further, the specific steps of detection parking stall judgment rule are set in the step S03:
S031: screening one is in the top of specified point in the parking stall vertex response point included in detection parking stall element
A candidate parking stall vertex response point, a candidate parking stall vertex response point below specified point and from judgement
Confidence level maximum angle is chosen when parking stall principal direction and/or parking stall vertical direction in the group of resulting all angles direction；
S032: make the candidate parking stall vertex response point above specified point and the candidate parking stall vertex response point below specified point
Line and coordinate origin between angle be equal or approximately equal in angle direction group choose the maximum angle of confidence level；
S033: qualified two candidate parking stall response points for taking step S032 to filter out, and calculate two candidate vehicles
The distance between position response point is then sentenced when the distance between two candidate parking stall response points meet parking stall rational width range
The two candidate parking stall response points of breaking are two vertex of true parking stall, then combine the main side in parking stall by the position on the two vertex
To and parking stall length, obtain four apex coordinates of true parking stall, so obtain one detection parking stall PRELIMINARY RESULTS letter
Breath output.
Further, the highest vehicle of confidence value in the detection parking stall PRELIMINARY RESULTS in each group is taken in the step S04
It further include when at least two vertex in detection parking stall PRELIMINARY RESULTS are rung before position is as the detection parking stall result step of the group
When the response that should be put is all larger than the response threshold value of vertex response point, increase to the confidence value of the detection parking stall PRELIMINARY RESULTS
Add to it is few with have in the detection parking stall PRELIMINARY RESULTS greater than the vertex response point quantity of vertex response point threshold value is identical can
Certainty value；When the response of a vertex response point in detection parking stall PRELIMINARY RESULTS is all larger than the response of vertex response point
When threshold value, increase a confidence value to the confidence value of the detection parking stall PRELIMINARY RESULTS；It is wrapped when in detection parking stall PRELIMINARY RESULTS
No one of the vertex response point contained response is greater than vertex response point threshold value, then does not increase to detection parking stall PRELIMINARY RESULTS
Confidence level.
Further, the extreme decision principle in the step S04 determines the specific steps of best parking stall are as follows:
S041: when the confidence value difference of the detection parking stall result between group and group is less than confidence level difference threshold, first
Detection parking stall PRELIMINARY RESULTS is grouped with parking stall principal direction angle, then is the detection of horizontal direction parking stall principal direction angle
Parking stall result and parking stall principal direction angle are that the detection parking stall result of vertical direction screens, then compares parking stall principal stresses angle
Degree be that confidence value and the parking stall principal direction angle of the detection parking stall result group of horizontal direction are the detection parking stall knot of vertical direction
The confidence value of fruit group；
S042: when the confidence value and parking stall principal direction of the detection parking stall result group that parking stall principal direction angle is horizontal direction
Angle is that the difference of the confidence value of the detection parking stall result group of vertical direction is less than confidence level difference threshold, then determined level
The factor for the confidence value that whether has an impact within the scope of the detection parking stall result group in direction, the detection parking stall knot for judging vertical direction
The factor for the confidence value that whether has an impact within the scope of fruit group；
S043: if only having confidence value influence factor, compensation level within the scope of the detection parking stall result group of horizontal direction
The confidence value in direction is as credible with the detection parking stall result group of vertical direction again after new revised confidence value
Angle value compares；
If only having confidence value influence factor within the scope of the detection parking stall result group of vertical direction, vertical direction is compensated
Confidence value is as the confidence value ratio with the detection parking stall result group of horizontal direction again after new revised confidence value
Compared with；
If there is the detection parking stall of confidence value influence factor, vertical direction within the scope of the detection parking stall result group of horizontal direction
As a result organizing in range has confidence value influence factor, then is level side according to the parking stall principal direction angle obtained in step S041
To detection parking stall result group combination horizontal direction characteristic feature compensation level direction confidence value；Or according to step S041
In the parking stall principal direction angle that obtains be detection parking stall result group the combination vertical direction characteristic feature compensation of vertical direction vertically
The confidence value in direction.
Preferably, the horizontal direction characteristic feature to include by the short-term section of angle point be T-type or L-type and in length
Long line segment whether is detected between degree two angle point of direction.
Preferably, the vertical direction characteristic feature to include by the short-term section of angle point be T-type or L-type and in width
Short-term section whether is detected between degree two angle point of direction.
Preferably, when detection parking stall PRELIMINARY RESULTS being grouped with parking stall principal direction angle in the step S041, not only
The detection parking stall group for screening detection the parking stall result group and vertical direction of horizontal direction, can also filter out parking stall principal direction and incline
The inclination angle degree setting decision principle parameter of rake angle group, parking stall principal direction tilt angle group can obtain.
A kind of bicycle position detecting system based on specified point, including image capture module, parking space detection area generation module,
Parking stall element collection, detection parking stall judgment module, extreme determination module are detected,
For described image trapping module for obtaining capture image, processing capture image obtains image-element, and obtains user
Designated position；
The parking space detection area generation module is used to calculate parking space detection area with specified location in user；
Detection parking stall element collection is used to calculate parking space detection area with specified location in user, is sieved with parking space detection area
Image-element is selected, retains the image-element in image-element in parking space detection area range as detection parking stall element collection；
Based on the detection parking stall judgment module is used for the element to detect parking stall element concentration, sentenced according to detection parking stall
The judgment rule of disconnected module show that parking stall PRELIMINARY RESULTS is grouped, then analyzes the confidence level judgement of parking stall Preliminary detection result most preferably
Parking stall；
The extreme determination module is used at the beginning of the parking stall of different principal direction angles cannot be distinguished in detection parking stall judgment module
When walking result grouping, the confidence level using extreme determination module to parking stall Preliminary detection result is compensated, then with compensated credible
Degree determines best parking stall.
A kind of single parking stall measure terminal based on specified point, including processor and memory, the memory are stored with journey
Sequence instruction, the processor operation program instruction realize the step in above-mentioned method.
A kind of computer readable storage medium, is stored thereon with computer program, realization when which is executed by processor
Such as the step in above-mentioned method.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, includes usual skill institute without departing from the spirit and technical ideas disclosed in the present invention in technical field such as
All equivalent modifications or change completed, should be covered by the claims of the present invention.
Claims (10)
1. a kind of bicycle position detecting method based on specified point, comprising the following steps:
S01: capture image is obtained, processing capture image obtains image-element, and obtains specified location in user；
S02: calculating parking space detection area with specified location in user, screens image-element with parking space detection area, retains image and wants
Image-element in element in parking space detection area range is as detection parking stall element；
S03: the detection parking stall element includes the parking stall principal direction determined and/or parking stall vertical direction, parking stall measure area
The response of the parking stall vertex response point handled within the scope of domain and positional relationship, the parking space detection area model of response point
Enclose interior all LSD line segments, setting detection parking stall judgment rule；
S04: it is grouped according to parking stall direction to all detection parking stall PRELIMINARY RESULTSs, and the detection parking stall in each group is tentatively tied
Fruit is arranged successively with confidence value size, takes the highest parking stall conduct of confidence value in the detection parking stall PRELIMINARY RESULTS in each group
The detection parking stall result of the group；The confidence value of the detection parking stall result of more each group of acquisition again, if the inspection between group and group
When the confidence value difference of measuring car position result is greater than confidence level difference threshold, then using confidence value maximum value as best parking stall；
If the confidence value difference of the detection parking stall result between group and group is less than confidence level difference threshold, with extreme decision principle
Determine best parking stall.
2. the bicycle position detecting method according to claim 1 based on specified point, which is characterized in that in the step S02
According to specified location in user calculate parking space detection area the following steps are included:
S021: parking stall length characteristic range and width characteristics range in capture image are obtained；
S022: the up-and-down boundary of parking space detection area is determined；It is the vertex for capturing image bottom with specified point, to the specified point
Top longer position in specified point parking stall length characteristic range or width characteristics range is parking space detection area coboundary；
It is the vertex for capturing image bottom with specified point, to specified point lower section apart from specified point parking stall length characteristic range or width
Longer position is parking space detection area lower boundary in characteristic range；
S023: width of the width as parking space detection area to capture image, by parking space detection area coboundary, parking stall measure area
Domain lower boundary, parking space detection area width surround the right boundary of parking space detection area, form parking space detection area external world range.
3. the bicycle position detecting method according to claim 2 based on specified point, which is characterized in that in the step S03
The step of parking stall principal direction and/or parking stall vertical direction of judgement is: that seeks is all close to parallel and perpendicular LSD
Detect the angular error and its corresponding number of line segment；According to each angle group cumulative errors, two direction line segment item numbers are comprehensive to choose
Reasonable angle；Determine whether angle needs transposition according to line segment group feature.
4. the bicycle position detecting method according to claim 3 based on specified point, which is characterized in that in the step S03
The calculating step of the response of the parking stall vertex response point handled within the scope of parking space detection area: according to the main side in parking stall
To calculating is along principal direction gradient map and vertical principal direction gradient map；It generates shape of template and calculates idx, calculate each pixel phase
To the response of template, response screening and merging.
5. the bicycle position detecting method according to claim 4 based on specified point, which is characterized in that in the step S03
The specific steps of detection parking stall judgment rule are set:
S031: the one of one top in specified point of screening in the parking stall vertex response point included in detection parking stall element
A candidate parking stall vertex response point, a candidate parking stall vertex response point below specified point and from judging parking stall
Confidence level maximum angle is chosen when principal direction and/or parking stall vertical direction in the group of resulting all angles direction；
S032: make the company of the candidate parking stall vertex response point above specified point and the candidate parking stall vertex response point below specified point
Angle between line and coordinate origin is equal or approximately equal to choose the maximum angle of confidence level in angle direction group；
S033: qualified two candidate parking stall response points for taking step S032 to filter out, and calculate two candidate parking stalls and ring
The distance between should put, when the distance between two candidate parking stall response points meet parking stall rational width range, then judge this
Two candidate parking stall response points are two vertex of true parking stall, then by the position on the two vertex combine parking stall principal direction and
The length of parking stall, obtains four apex coordinates of true parking stall, and then obtains the information output of a detection parking stall PRELIMINARY RESULTS.
6. the bicycle position detecting method according to claim 5 based on specified point, which is characterized in that in the step S04
Take in each group detection parking stall PRELIMINARY RESULTS in the highest parking stall of confidence value as the group detection parking stall result step it
Before, it further include when the response of at least two vertex response points in detection parking stall PRELIMINARY RESULTS is all larger than the sound of vertex response point
When should be worth threshold value, to the detection parking stall PRELIMINARY RESULTS confidence value increase at least with have in the detection parking stall PRELIMINARY RESULTS
Greater than the identical confidence value of vertex response point quantity of vertex response point threshold value；When a top in detection parking stall PRELIMINARY RESULTS
When the response of point response point is all larger than the response threshold value of vertex response point, to the confidence value of the detection parking stall PRELIMINARY RESULTS
Increase a confidence value；When no one of the vertex response point for including in detection parking stall PRELIMINARY RESULTS response is greater than vertex
Response point threshold value does not then increase confidence level to detection parking stall PRELIMINARY RESULTS.
7. the bicycle position detecting method according to claim 5 based on specified point, which is characterized in that in the step S04
Extreme decision principle determine the specific steps of best parking stall are as follows:
S041: when the confidence value difference of the detection parking stall result between group and group is less than confidence level difference threshold, first inspection
Measuring car position PRELIMINARY RESULTS is grouped with parking stall principal direction angle, then the detection parking stall that parking stall principal direction angle is horizontal direction is tied
Fruit and parking stall principal direction angle are that the detection parking stall result of vertical direction screens, then compares parking stall principal direction angle for level
The confidence value of the detection parking stall result group in direction can with the detection parking stall result group that principal direction angle in parking stall is vertical direction
Certainty value；
S042: when the confidence value and parking stall principal direction angle of the detection parking stall result group that parking stall principal direction angle is horizontal direction
Difference for the confidence value of the detection parking stall result group of vertical direction is less than confidence level difference threshold, then determined level direction
The factor for the confidence value that whether has an impact within the scope of detection parking stall result group, the detection parking stall result group range for judging vertical direction
The factor for the confidence value that inside whether has an impact；
S043: if only having confidence value influence factor, compensation level direction within the scope of the detection parking stall result group of horizontal direction
Confidence value as the confidence value with the detection parking stall result group of vertical direction again after new revised confidence value
Compare；
If only having confidence value influence factor within the scope of the detection parking stall result group of vertical direction, the credible of vertical direction is compensated
Angle value as after new revised confidence value again compared with the confidence value of the detection parking stall result group of horizontal direction；
If having confidence value influence factor, the detection parking stall result of vertical direction within the scope of the detection parking stall result group of horizontal direction
There is confidence value influence factor in group range, is then the inspection of horizontal direction according to the parking stall principal direction angle obtained in step S041
The confidence value in measuring car position result group combination horizontal direction characteristic feature compensation level direction；Or according to obtaining in step S041
Parking stall principal direction angle be vertical direction detection parking stall result group combination vertical direction characteristic feature compensation vertical direction can
Certainty value.
8. a kind of bicycle position detecting system based on specified point, which is characterized in that including image capture module, parking space detection area
Generation module, detection parking stall element collection, detection parking stall judgment module, extreme determination module；
Described image trapping module is for obtaining capture image, and processing capture image obtains image-element, and it is specified to obtain user
Position；
The parking space detection area generation module is used to calculate parking space detection area with specified location in user；
Detection parking stall element collection is used to calculate parking space detection area with specified location in user, is screened and is schemed with parking space detection area
As element, retain the image-element in image-element in parking space detection area range as detection parking stall element collection；
Based on the detection parking stall judgment module is used for the element to detect parking stall element concentration, mould is judged according to detection parking stall
The judgment rule of block show that parking stall PRELIMINARY RESULTS is grouped, then analyzes the best parking stall of confidence level judgement of parking stall Preliminary detection result；
It tentatively ties the parking stall that the extreme determination module is used to cannot be distinguished different principal direction angles in detection parking stall judgment module
When fruit is grouped, the confidence level using extreme determination module to parking stall Preliminary detection result is compensated, then is sentenced with compensated confidence level
Fixed best parking stall.
9. a kind of single parking stall measure terminal based on specified point, which is characterized in that including processor and memory, the memory
It is stored with program instruction, the processor operation program instruction realizes the step in above-mentioned method.
10. a kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the program is by processor
The step in the method as described in claim 1 to 7 any claim is realized when execution.
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