CN115359650A - Parking position detection method and device, computer equipment and storage medium - Google Patents

Parking position detection method and device, computer equipment and storage medium Download PDF

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Publication number
CN115359650A
CN115359650A CN202210789292.6A CN202210789292A CN115359650A CN 115359650 A CN115359650 A CN 115359650A CN 202210789292 A CN202210789292 A CN 202210789292A CN 115359650 A CN115359650 A CN 115359650A
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target vehicle
vehicle
determining
parking
roof
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CN115359650B (en
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刘宇奇
张朋
汪志强
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Zhejiang Dahua Technology Co Ltd
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Zhejiang Dahua Technology Co Ltd
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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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • 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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • 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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas

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  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Image Analysis (AREA)

Abstract

The application relates to a parking space detection method, a parking space detection device, computer equipment and a computer readable storage medium, vehicle parts related to a target vehicle are determined by detecting the vehicle parts of a parking area image, and under the condition that the body of the target vehicle is shielded, accurate estimation of the body boundary of the target vehicle is realized based on the determined position information of the vehicle parts related to the target vehicle; and based on the position distribution between the vehicle body boundary of the target vehicle and each parking position in the parking area image, the parking position where the target vehicle parks can be accurately judged, so that the accuracy of parking position detection is effectively improved.

Description

Parking position detection method and device, computer equipment and storage medium
Technical Field
The present application relates to the field of video image processing technologies, and in particular, to a parking position detection method, apparatus, computer device, and storage medium.
Background
Along with the rapid increase of the demand of motor vehicles, the number of matched parking lots is slowly increased, and the problems of disordered parking order and the like are caused. In order to scientifically and reasonably standardize the parking order, the information of the parked vehicles needs to be fully mastered, wherein the parking positions of the vehicles are particularly important.
In the prior art, the parking position of a vehicle is identified by detecting video image data shot by a camera and identifying the relationship between the landing point of a wheel and a parking position area. However, the existing cameras are generally erected at a high place, and a small number of cameras are used for detecting the whole parking space, so that the position of a vehicle in the acquired video image data is often deviated, shielded and overlapped, the position of the landing position of the wheel cannot be accurately detected, and the problem of low parking space detection accuracy in the prior art is caused.
Disclosure of Invention
In view of the above, it is necessary to provide a parking space detection method, apparatus, computer device and computer readable storage medium to solve the problem of low accuracy of parking space detection in the related art.
In a first aspect, the present application provides a parking space detection method for detecting a parking space of a vehicle in a parking area, the method including:
acquiring a parking area image acquired aiming at a parking position in a parking area;
detecting vehicle components of the parking area image; determining vehicle components related to the target vehicle from the detected vehicle components; the target vehicle is a vehicle in the parking area image, and the vehicle parts at least comprise a vehicle body and other vehicle parts except the vehicle body;
in response to determining that the body of the target vehicle does not exist in the vehicle components associated with the target vehicle, determining the body boundary of the target vehicle based on the determined position information of the vehicle components associated with the target vehicle;
determining a parking position at which the target vehicle parks based on a position distribution between a body boundary of the target vehicle and each parking position in the parking area image.
In some embodiments, the determining the vehicle component associated with the target vehicle from the detected vehicle components includes:
and according to the position distribution among the detected vehicle components, determining the vehicle components related to the target vehicle from the detected vehicle components.
In some embodiments, the determining, from the detected vehicle components, the vehicle component associated with the target vehicle according to the position distribution among the detected vehicle components includes:
according to the detected position distribution among the vehicle components, the vehicle components belonging to the same vehicle are associated;
and determining the vehicle part related to the target vehicle according to the correlation result.
In some embodiments, in response to the determined vehicle components associated with the target vehicle including windows and a roof, the determining the body boundary of the target vehicle based on the determined position information of the vehicle components associated with the target vehicle includes:
determining size information of a body of the target vehicle according to the size information of the window and the size information of the roof of the target vehicle; the size information of the window of the target vehicle is determined based on the position information of the window of the target vehicle, and the size information of the roof of the target vehicle is determined based on the position information of the roof of the target vehicle;
and determining the boundary of the vehicle body of the target vehicle according to the size information of the vehicle body of the target vehicle and the position information of the roof of the target vehicle.
In some embodiments, the parking area image is captured by an image capturing device, and after determining the dimension information of the body of the target vehicle according to the dimension information of the window and the dimension information of the roof of the target vehicle, before determining the body boundary of the target vehicle according to the dimension information of the body of the target vehicle and the position information of the roof of the target vehicle, the method further includes:
determining a distance influence factor according to the distance between the target vehicle and the image acquisition equipment;
and adjusting the size information of the body of the target vehicle based on the distance influence factor.
In some of these embodiments, the dimensional information includes a height, and the body boundary includes at least one boundary point on a boundary of a side of the body of the target vehicle near the ground.
In some embodiments, in response to the determined vehicle component associated with the target vehicle including a roof and a rear view mirror, the determining the body boundary of the target vehicle based on the determined position information of the vehicle component associated with the target vehicle includes:
determining the height of a window of the target vehicle according to the position information of the rearview mirror of the target vehicle and the position information of the roof;
determining the height of the body of the target vehicle according to the height of the windows and the height of the roof of the target vehicle; the height of the roof of the target vehicle is determined based on the position information of the roof of the target vehicle;
and determining the body boundary of the target vehicle according to the height of the body of the target vehicle and the position information of the roof of the target vehicle.
In some embodiments, the parking area image is acquired by an image acquisition device, and the height of the window of the target vehicle is determined according to the position information of the rearview mirror and the position information of the roof of the target vehicle, including the following steps:
judging whether the face of the target vehicle faces the image acquisition equipment or not;
determining the height of a window of the target vehicle according to a first conversion relation between the position information of a rearview mirror and the position information of a roof of the target vehicle and the height of the window of the target vehicle in response to the face of the target vehicle facing the image acquisition device;
and determining the height of the window of the target vehicle according to a second conversion relation between the position information of the rearview mirror and the position information of the roof of the target vehicle and the height of the window of the target vehicle in response to the fact that the face of the target vehicle faces away from the image acquisition device.
In a second aspect, an embodiment of the present application provides a parking space detection apparatus, including: the device comprises an acquisition module, a detection module, an estimation module and a determination module:
the acquisition module is used for acquiring a parking area image acquired aiming at a parking position in a parking area;
the detection module is used for detecting vehicle components of the parking area image; determining vehicle components related to the target vehicle from the detected vehicle components; the target vehicle is a vehicle in the parking area image, and the vehicle parts at least comprise a vehicle body and other vehicle parts except the vehicle body;
the estimation module is used for responding to the fact that the vehicle body of the target vehicle does not exist in the determined vehicle parts related to the target vehicle, and determining the vehicle body boundary of the target vehicle based on the determined position information of the vehicle parts related to the target vehicle;
the determining module is used for determining the parking positions where the target vehicle stops based on the position distribution between the body boundary of the target vehicle and the parking positions in the parking area image.
In a third aspect, there is provided in this embodiment a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to the first aspect when executing the computer program.
In a fourth aspect, in the present embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method according to the first aspect as described above.
According to the parking lot detection method, the parking lot detection device, the computer equipment and the computer readable storage medium, the vehicle part related to the target vehicle is determined by detecting the vehicle part of the image of the parking area, and under the condition that the vehicle body of the target vehicle is shielded, the accurate estimation of the vehicle body boundary of the target vehicle is realized based on the determined position information of the vehicle part related to the target vehicle; and based on the position distribution between the vehicle body boundary of the target vehicle and each parking position in the parking area image, the parking position where the target vehicle parks can be accurately judged, so that the accuracy of parking position detection is effectively improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a view of an application scenario of a parking space detection method provided in an embodiment of the present application;
FIG. 2 is a first flowchart of a parking space detection method according to an embodiment of the present application;
FIG. 3 is a schematic image of a parking area provided according to an embodiment of the present application;
fig. 4 is a second flowchart of a parking space detection method according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a parking space detection device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a computer device provided according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application.
It is obvious that the drawings in the following description are only examples or embodiments of the application, and that it is also possible for a person skilled in the art to apply the application to other similar contexts on the basis of these drawings without inventive effort. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless otherwise defined, technical or scientific terms referred to herein should have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The use of the terms "a" and "an" and "the" and similar referents in the context of describing the invention (including a single reference) are to be construed in a non-limiting sense as indicating either the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to only those steps or elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but rather can include electrical connections, whether direct or indirect. The term "plurality" as used herein means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
Fig. 1 is a scene diagram of an application of a parking space detection method according to an embodiment of the present application. As shown in fig. 1, data transmission may be performed between a server 101 and a monitoring terminal 102 via a network. Wherein the field of view of the monitor terminal 102 covers the parking area. The monitoring terminal 102 is configured to collect an image of a parking space in a parking area, and transmit the collected image of the parking area to the server 101. The server 101 performs vehicle component detection on the parking area image based on the parking area image; determining vehicle components related to the target vehicle from the detected vehicle components; the target vehicle is a vehicle in the parking area image, and the vehicle parts at least comprise a vehicle body and other vehicle parts except the vehicle body; in response to the fact that the body of the target vehicle does not exist in the vehicle parts related to the determined target vehicle, determining the body boundary of the target vehicle based on the position information of the vehicle parts related to the determined target vehicle; and determining the parking positions where the target vehicle stops based on the position distribution between the body boundary of the target vehicle and the parking positions in the parking area image. The server 101 may be implemented by an independent server or a server cluster composed of a plurality of servers, and the monitoring terminal 102 may be implemented by any image capturing device.
The present embodiment provides a parking space detection method, as shown in fig. 2, the method includes the following steps:
step S210, a parking area image collected for a parking lot in a parking area is acquired.
Specifically, the parking area generally comprises a roadside parking lot and each of indoor and outdoor parking lots, and the dynamic state in the parking area can be monitored by acquiring the images of the parking area acquired aiming at the parking positions in the parking area. Generally, an image acquisition device is used for acquiring images of parking areas, the installation angles of the image acquisition devices of the parking areas are generally different, and in some installation angles, for example, parking lots of certain buildings, the image acquisition devices are vertically installed above the parking areas, and the vehicle bodies of the vehicles in the parking areas and the parking positions of the parking areas can be completely detected, so that the parking positions of the vehicles can be easily identified. However, in some installation angles, for example, a roadside side parking space is taken as an example, the image capturing device is placed in front of and behind the parking area, in this case, the vehicle is easily blocked, the position of the vehicle is shifted or overlapped in the monitoring screen of the image capturing device, and in addition, the parking position line is blocked by the vehicle, so that only a part of the parking position line can be displayed. The parking position detection method is mainly applied to scenes that a vehicle body cannot be detected.
Step S220, vehicle component detection is carried out on the parking area image; determining vehicle components related to the target vehicle from the detected vehicle components; the target vehicle is a vehicle in the parking area image, and the vehicle parts include at least a vehicle body and other vehicle parts other than the vehicle body.
After the parking area image is acquired, vehicle component detection may be performed on the parking area image based on an existing target detection algorithm, for example, fast-RCNN, yolo V3\ V4\ V5, SSD, or the like, and a vehicle component associated with the target vehicle may be determined from the detected vehicle components. In the parking area, one target vehicle or a plurality of target vehicles may exist at the same time, and the vehicle components associated with the target vehicle, that is, which vehicle components belong to which target vehicle, are determined.
As one of the embodiments, the vehicle component associated with the target vehicle may be determined from the detected vehicle components according to the position distribution among the detected vehicle components. For can be detectedThe vehicle component can acquire its position information in the parking area image, which can be expressed as (x) in the case of the vehicle head 1 head ,y 1 head ,x 2 head ,y 2 head ,w head ,h head ) Wherein (x) 1 head ,y 1 head ) Representing the coordinates of the end point at the upper left corner of the vehicle head, (x) 2 head ,y 2 head ) Representing the coordinates of the end point at the lower right corner of the vehicle head, w head Width of vehicle head, w head ＝x 2 head -x 1 head ，h head Height of the vehicle head, h head ＝y 2 head -y 1 head . However, there may be more than one vehicle in the parking area, and vehicle components of multiple vehicles may be detected simultaneously. Since the vehicle components of the same vehicle need to satisfy a certain positional relationship, the vehicle components related to the target vehicle can be determined from the detected vehicle components according to the detected positional distribution among the vehicle components.
Specifically, vehicle components belonging to the same vehicle may be associated according to the detected position distribution among the vehicle components; and determining the vehicle part related to the target vehicle according to the correlation result. For example, the vehicle components belonging to the same vehicle may be associated with each other by using an IoU (Intersection over unit) of each vehicle component according to the position distribution among the vehicle components, so as to determine the vehicle component associated with the target vehicle.
Step S230, in response to that the body of the target vehicle does not exist in the determined vehicle components associated with the target vehicle, determining the body boundary of the target vehicle based on the position information of the determined vehicle components associated with the target vehicle.
Due to the occlusion between vehicles, it is easy to determine that the vehicle body of the target vehicle does not exist in the vehicle components associated with the target vehicle. However, since the vehicle components associated with the target vehicle meet certain manufacturing requirements, in response to determining that the vehicle body of the target vehicle does not exist in the vehicle components associated with the target vehicle, the boundary of the vehicle body of the target vehicle, specifically, one or more of the upper boundary, the lower boundary, the left boundary or the right boundary of the vehicle body, may be determined based on the position information of the vehicle components associated with the determined target vehicle.
Step S240, determining a parking position at which the target vehicle parks, based on the position distribution between the vehicle body boundary of the target vehicle and each parking position in the parking area image.
However, since the parking space lines are regular rectangular frames, the positions of the parking space lines in the parking area image can be filled up according to the displayed parts of the parking space lines, and thus the position information of each parking space in the parking area image can be acquired, specifically, the position information of the nth parking space can be expressed as (xn) 1 park ,yn 1 park ,xn 2 park ,yn 2 park ,wn park ,hn park ). In addition, because the image acquisition equipment for acquiring the images of the parking areas is fixedly installed, the parking areas are not easy to change generally, so that the position information of each parking space can be stored after the position information of each parking space in the images of the parking areas is acquired, and the position information of each parking space does not need to be acquired again under the condition that the angle of the image acquisition equipment and the parking areas are not changed. And finally, determining the parking positions where the target vehicle parks according to the position distribution between the vehicle body boundary of the target vehicle and the parking positions in the parking area image.
In the prior art, the parking position of a vehicle is identified by detecting video image data shot by a camera and identifying the relationship between the landing point of a wheel and a parking position area. However, the existing cameras are generally erected at a high place, and a small number of cameras are used for detecting the whole parking space, so that the position of a vehicle in the acquired video image data is often deviated, shielded and overlapped, the position of the landing position of the wheel cannot be accurately detected, and the problem of low parking space detection accuracy in the prior art is caused.
In order to solve the problems, the application provides a parking position detection method, which includes the steps of determining vehicle parts related to a target vehicle by detecting the vehicle parts of images of a parking area, and accurately estimating the boundary of the vehicle body of the target vehicle based on the determined position information of the vehicle parts related to the target vehicle under the condition that the vehicle body of the target vehicle is shielded; and based on the position distribution between the vehicle body boundary of the target vehicle and each parking position in the parking area image, the parking position where the target vehicle parks can be accurately judged, so that the accuracy of parking position detection is effectively improved.
As one embodiment, after a parking area image acquired for a parking lot in a parking area is acquired, graying and filtering of the parking area image can be performed, so that the parking area image is compressed, and the data volume of subsequent detection is effectively reduced. In addition, by performing filter processing, for example, gaussian filter processing, on the parking area image, it is possible to suppress noise of the parking area image and weaken background information of the parking area image, thereby effectively enhancing the contour of the vehicle.
In one embodiment, the step S230, in response to that the body of the target vehicle does not exist in the determined vehicle components related to the target vehicle, determines the body boundary of the target vehicle based on the determined position information of the vehicle components related to the target vehicle, and includes the following steps:
step S231 of determining size information of a body of the target vehicle according to the size information of the window and the size information of the roof of the target vehicle; the size information of the window of the target vehicle is determined based on the position information of the window of the target vehicle, and the size information of the roof of the target vehicle is determined based on the position information of the roof of the target vehicle.
Specifically, the size information is height and width information. Taking fig. 3 as an example, fig. 3 is a parking area image at a high-level view, and it can be seen that there is a certain relationship between the size of the vehicle body, the size of the window, and the size of the roof by observing the vehicle structural features in the parking area image at the high-level view, so that the size information of the vehicle body of the target vehicle can be efficiently determined from the size information of the window, which is determined based on the position information of the window of the target vehicle, and the size information of the roof of the target vehicle, which is determined based on the position information of the roof of the target vehicle, and the size information of the roof of the target vehicle.
Step S232, determining a body boundary of the target vehicle according to the size information of the body of the target vehicle and the position information of the roof of the target vehicle.
Due to the fact that the relative position relationship exists between the body boundary of the target vehicle and the roof of the target vehicle, after the size information of the body of the target vehicle is obtained, the body boundary of the target vehicle can be effectively determined according to the size information of the body of the target vehicle and the position information of the roof of the target vehicle.
Further, in one embodiment, the parking area image is captured by an image capturing device, and after determining the size information of the body of the target vehicle based on the size information of the window and the size information of the roof of the target vehicle in the above-mentioned step S231, the parking lot detection method further includes the following steps before determining the boundary of the body of the target vehicle based on the size information of the body of the target vehicle and the position information of the roof of the target vehicle in the step S232:
determining a distance influence factor according to the distance between the target vehicle and the image acquisition equipment;
the size information of the body of the target vehicle is adjusted based on the distance-affecting factor.
Specifically, since a parking area usually has a plurality of parking positions, the target vehicle may park at any parking position, and each parking position is different from the image capturing device, resulting in a difference in distance from the image capturing device. The farther the target vehicle is from the image acquisition device, the more serious the image deformation is, the more the relationship between the size information of the vehicle body and the size information of the vehicle window and the size information of the vehicle roof will change accordingly, so that the distance influence factor needs to be determined according to the distance between the target vehicle and the image acquisition device, and the size information of the vehicle body of the target vehicle is adjusted based on the distance influence factor, thereby further ensuring the accuracy of size information pre-estimation of the vehicle body.
As one of the embodiments, the dimension information includes a height, and the body boundary includes at least one boundary point on a boundary of a side of the body of the target vehicle near the ground. Specifically, the height h of the body of the target vehicle may be determined based on the height of the window and the height of the roof of the target vehicle body Then, the height h of the vehicle body of the target vehicle can be determined body And position information of the roof of the target vehicle, and determining at least one boundary point on one side boundary of the body of the target vehicle close to the ground. Specifically, if the vertex coordinate of the top left corner of the roof of the target vehicle is (x) 1 roof ,y 1 roof ) Then, at least one boundary point coordinate on a boundary of a side of the body of the target vehicle close to the ground may be a vertex of a lower left corner of the body, and the coordinate is (x) body ＝x 1 roof ,y body ＝y 1 roof +h body ) Finally, the parking space where the target vehicle parks can be determined immediately and effectively according to the range of which parking space any boundary point on the side boundary of the vehicle body close to the ground is located in the parking area image.
Furthermore, the relationship between the height of the vehicle body and the height of the windows and the height of the roof may be preset as follows: h is body ＝a(h roof +h window ) Wherein a is a distance influence factor, a is related to the distance between the target vehicle and the image acquisition device, in this embodiment, it is assumed that the image width of the parking area is image _ width and the height is image _ height, and the vertical coordinate of the lower edge of the rearview mirror is y 2 mirror Then a =2+0.5 ((image _ height-y) 2 mirror ) /(image _ height)). Specifically, a may be adjusted according to an actual application scenario.
In one embodiment, in response to the determined vehicle component associated with the target vehicle including the roof and the rear-view mirror, the step S230 of determining the body boundary of the target vehicle based on the determined position information of the vehicle component associated with the target vehicle includes the following steps:
and step S233, determining the height of the window of the target vehicle according to the position information of the rearview mirror of the target vehicle and the position information of the roof.
Step S234, determining the height of the body of the target vehicle according to the height of the window and the height of the roof of the target vehicle; the height of the roof of the target vehicle is determined based on the position information of the roof of the target vehicle.
And step S235, determining the body boundary of the target vehicle according to the height of the body of the target vehicle and the position information of the roof of the target vehicle.
Specifically, in the parking area image, both the rear view mirror and the roof of the target vehicle are generally detectable. Because a certain position relation exists among the vehicle window, the rearview mirror and the vehicle roof, the height of the vehicle window of the target vehicle can be effectively determined according to the position information of the rearview mirror of the target vehicle and the position information of the vehicle roof. Since the height of the vehicle body, the height of the window and the height of the roof satisfy a certain relationship, the height of the vehicle body of the target vehicle can be effectively determined according to the height of the window and the height of the roof, wherein the height of the roof of the target vehicle is determined based on the position information of the roof of the target vehicle. Further, due to the fact that the body boundary of the target vehicle and the roof of the target vehicle have the relative position relationship, after the height of the body of the target vehicle is obtained, the body boundary of the target vehicle can be effectively determined according to the height of the body of the target vehicle and the position information of the roof of the target vehicle.
Further, in one embodiment, the step S233 of acquiring the parking area image by the image acquisition device and determining the height of the window of the target vehicle according to the position information of the rearview mirror and the position information of the roof of the target vehicle includes the following steps:
in step S2331, it is determined whether the face of the target vehicle is directed toward the image capturing apparatus.
Specifically, in the case where the face of the subject vehicle is directed toward the image pickup device, the lower edge of the rear view mirror of the subject vehicle is substantially flush with the lower edge of the window in the parking area image. In the case where the face of the subject vehicle faces away from the image pickup device, the lower edge of the mirror of the subject vehicle is higher than the lower edge of the window in the parking area image. In the case where the face of the target vehicle faces the image capture device and the face of the target vehicle faces away from the image capture device, there is a different relationship between the height of the window and the position information of the rearview mirror and the position information of the roof, so it is necessary to first determine whether the face of the target vehicle faces the image capture device. Specifically, the orientation of the face of the target vehicle relative to the image acquisition device may be determined according to whether a head exists or a tail exists in the determined vehicle parts associated with the target vehicle, or according to the determined positional relationship between the vehicle parts associated with the target vehicle, the orientation of the face of the target vehicle relative to the image acquisition device may be determined, for example, the positional relationship between the lower edge of the rear view mirror and the lower edge of the window.
Step S2332, in response to the face of the target vehicle facing the image capturing device, determining a height of a window of the target vehicle based on a first conversion relationship between the position information of the rearview mirror and the position information of the roof of the target vehicle and the height of the window of the target vehicle.
Step S2333, in response to the image capturing device facing away from the face of the target vehicle, determining the height of the window of the target vehicle according to a second conversion relationship between the position information of the rear view mirror and the position information of the roof of the target vehicle and the height of the window of the target vehicle.
Specifically, after the orientation of the face of the target vehicle relative to the image acquisition device is determined, the height of the window of the target vehicle can be effectively determined according to different conversion relationships between the position information of the rearview mirror and the position information of the roof of the target vehicle and the height of the window of the target vehicle. As one embodiment, the first conversion relationship between the position information of the rearview mirror and the position information of the roof of the target vehicle and the height of the window of the target vehicle is as follows: h is window ＝y 2 mirror -y 2 roof (ii) a The second conversion relationship between the position information of the rear view mirror and the position information of the roof of the target vehicle and the height of the window of the target vehicle is as follows: h is a total of window ＝y 2 mirror -y 2 roof +h mirror 。
As shown in fig. 4, the present embodiment further provides a parking space detection method, including the following steps:
step S301, a parking area image collected aiming at a parking position in a parking area is obtained, and graying processing and filtering processing are carried out on the parking area image.
Step S302, vehicle component detection is carried out on the parking area image based on the preprocessed parking area image; the vehicle components include at least a vehicle body and other vehicle components other than the vehicle body.
Step S303, according to the detected position distribution among the vehicle components, the vehicle components belonging to the same vehicle are associated, and according to the association result, the vehicle components associated with the target vehicle are determined.
Step S304, judging whether the vehicle parts related to the determined target vehicle have the vehicle body of the target vehicle; if so, step S310 is executed, otherwise, step S305 is executed.
Step S305, judging whether the face of the target vehicle faces the image acquisition equipment; if so, go to step S306, otherwise go to step S307.
And step S306, in response to the fact that the determined vehicle parts related to the target vehicle comprise the roof and the rearview mirror, determining the height of the window of the target vehicle according to a first conversion relation between the position information of the rearview mirror of the target vehicle and the position information of the roof and the height of the window of the target vehicle.
And step S307, in response to the fact that the determined vehicle part related to the target vehicle comprises the roof and the rearview mirror, determining the height of the window of the target vehicle according to a second conversion relation between the position information of the rearview mirror of the target vehicle and the position information of the roof and the height of the window of the target vehicle.
Step S308, determining the height of the vehicle body of the target vehicle according to the height of the windows and the height of the roof of the target vehicle; determining a height of a roof of the target vehicle based on the position information of the roof of the target vehicle;
step S309, a body boundary of the target vehicle is determined according to the height of the body of the target vehicle and the position information of the roof of the target vehicle.
Step S310, determining a parking position at which the target vehicle parks, based on the position distribution between the vehicle body boundary of the target vehicle and each parking position in the parking area image.
Fig. 5 is a schematic view of a parking space detection apparatus according to an embodiment of the present invention, and as shown in fig. 5, there is provided a parking space detection apparatus 40, the parking space detection apparatus 40 including: the acquisition module 41, the detection module 42, the estimation module 43, and the determination module 44:
an obtaining module 41, configured to obtain a parking area image acquired for a parking lot in a parking area;
a detection module 42 for performing vehicle component detection on the parking area image; determining vehicle components related to the target vehicle from the detected vehicle components; the target vehicle is a vehicle in the parking area image, and the vehicle parts at least comprise a vehicle body and other vehicle parts except the vehicle body;
the estimation module 43 is used for responding to the situation that the vehicle body of the target vehicle does not exist in the vehicle parts related to the determined target vehicle, and determining the vehicle body boundary of the target vehicle based on the position information of the vehicle parts related to the determined target vehicle;
and the determining module 44 is used for determining the parking positions where the target vehicle stops based on the position distribution between the body boundary of the target vehicle and the parking positions in the parking area image.
The parking space detection device 40 determines a vehicle component related to the target vehicle by detecting the vehicle component in the image of the parking area, and accurately estimates the boundary of the vehicle body of the target vehicle based on the determined position information of the vehicle component related to the target vehicle when the vehicle body of the target vehicle is blocked; and based on the position distribution between the vehicle body boundary of the target vehicle and each parking position in the parking area image, the parking position where the target vehicle parks can be accurately judged, so that the accuracy of parking position detection is effectively improved.
In one embodiment, the detection module 42 is further configured to determine the vehicle component associated with the target vehicle from the detected vehicle components according to the position distribution among the detected vehicle components.
In one embodiment, the detection module 42 is further configured to associate vehicle components belonging to the same vehicle according to the detected position distribution among the vehicle components; and determining the vehicle part related to the target vehicle according to the correlation result.
In one embodiment, the estimation module 43 is further configured to determine, in response to the determination that the vehicle component associated with the target vehicle includes a window and a roof, size information of a body of the target vehicle according to the size information of the window and the size information of the roof of the target vehicle; the size information of the window of the target vehicle is determined based on the position information of the window of the target vehicle, and the size information of the roof of the target vehicle is determined based on the position information of the roof of the target vehicle; and determining the boundary of the vehicle body of the target vehicle according to the size information of the vehicle body of the target vehicle and the position information of the roof of the target vehicle.
In one embodiment, the estimation module 43 is further configured to determine a distance influence factor according to a distance between the target vehicle and the image capturing device; and adjusting the size information of the body of the target vehicle based on the distance influence factor.
In one embodiment, the dimensional information includes a height, and the body boundary includes at least one boundary point on a boundary of a side of the body of the target vehicle near the ground.
In one embodiment, the estimation module 43 is further configured to determine, in response to the determination that the vehicle component associated with the target vehicle includes a roof and a rear-view mirror, a height of a window of the target vehicle according to the position information of the rear-view mirror of the target vehicle and the position information of the roof; determining the height of the body of the target vehicle according to the height of the windows and the height of the roof of the target vehicle; determining a height of a roof of the target vehicle based on the position information of the roof of the target vehicle; and determining the body boundary of the target vehicle according to the height of the body of the target vehicle and the position information of the roof of the target vehicle.
In one embodiment, the estimation module 43 is further configured to determine whether the face of the target vehicle faces the image capturing device; determining the height of the window of the target vehicle according to a first conversion relation between the position information of the rearview mirror and the position information of the roof of the target vehicle and the height of the window of the target vehicle in response to the face of the target vehicle facing the image acquisition device; and determining the height of the window of the target vehicle according to a second conversion relation between the position information of the rearview mirror and the position information of the roof of the target vehicle and the height of the window of the target vehicle in response to the image acquisition device that the face of the target vehicle faces away from the image acquisition device.
The above modules may be functional modules or program modules, and may be implemented by software or hardware. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 6. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The memory provides an environment for the operating system and the computer programs to run in the non-volatile storage medium. The database of the computer device is used for storing a preset configuration information set. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a parking space detection method.
In one embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The memory provides an environment for the operating system and the computer programs to run in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a parking stall detection method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the configuration shown in fig. 6 is a block diagram of only a portion of the configuration associated with the present application and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring a parking area image acquired aiming at a parking position in a parking area;
detecting vehicle components of the parking area image; determining vehicle components related to the target vehicle from the detected vehicle components; the target vehicle is a vehicle in the parking area image, and the vehicle parts at least comprise a vehicle body and other vehicle parts except the vehicle body;
in response to the fact that the body of the target vehicle does not exist in the vehicle parts related to the determined target vehicle, determining the body boundary of the target vehicle based on the position information of the vehicle parts related to the determined target vehicle;
and determining the parking positions where the target vehicle stops based on the position distribution between the body boundary of the target vehicle and the parking positions in the parking area image.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and according to the detected position distribution among the vehicle parts, determining the vehicle part related to the target vehicle from the detected vehicle parts.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
according to the detected position distribution among the vehicle components, the vehicle components belonging to the same vehicle are associated;
and determining the vehicle part related to the target vehicle according to the correlation result.
In one embodiment, the processor when executing the computer program further performs the steps of:
determining size information of a vehicle body of the target vehicle according to the size information of the window and the size information of the roof of the target vehicle in response to the fact that the window and the roof are included in the vehicle parts related to the target vehicle; the size information of the window of the target vehicle is determined based on the position information of the window of the target vehicle, and the size information of the roof of the target vehicle is determined based on the position information of the roof of the target vehicle;
and determining the boundary of the vehicle body of the target vehicle according to the size information of the vehicle body of the target vehicle and the position information of the roof of the target vehicle.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining a distance influence factor according to the distance between the target vehicle and the image acquisition equipment; the image of the parking area is collected through image collection equipment;
and adjusting the size information of the body of the target vehicle based on the distance influence factor.
In one embodiment, the dimensional information includes a height, and the body boundary includes at least one boundary point on a boundary of a side of the body of the target vehicle near the ground.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining the height of a window of the target vehicle according to the position information of the rearview mirror of the target vehicle and the position information of the roof in response to the fact that the determined vehicle parts related to the target vehicle comprise the roof and the rearview mirror;
determining the height of the body of the target vehicle according to the height of the windows and the height of the roof of the target vehicle; determining a height of a roof of the target vehicle based on the position information of the roof of the target vehicle;
and determining the body boundary of the target vehicle according to the height of the body of the target vehicle and the position information of the roof of the target vehicle.
In one embodiment, the processor when executing the computer program further performs the steps of:
judging whether the face of the target vehicle faces the image acquisition equipment or not; the image of the parking area is collected through image collection equipment;
determining the height of the window of the target vehicle according to a first conversion relation between the position information of the rearview mirror and the position information of the roof of the target vehicle and the height of the window of the target vehicle in response to the face of the target vehicle facing the image acquisition device;
and determining the height of the window of the target vehicle according to a second conversion relation between the position information of the rearview mirror of the target vehicle and the position information of the roof of the target vehicle and the height of the window of the target vehicle in response to the condition that the face of the target vehicle faces away from the image acquisition device.
The storage medium determines a vehicle component related to the target vehicle by detecting the vehicle component of the parking area image, and accurately estimates the boundary of the vehicle body of the target vehicle based on the determined position information of the vehicle component related to the target vehicle under the condition that the vehicle body of the target vehicle is shielded; and based on the position distribution between the vehicle body boundary of the target vehicle and each parking position in the parking area image, the parking position where the target vehicle parks can be accurately judged, so that the accuracy of parking position detection is effectively improved.
It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to be limiting. All other embodiments, which can be derived by a person skilled in the art from the examples provided herein without any inventive step, shall fall within the scope of protection of the present application.
It is obvious that the drawings are only examples or embodiments of the present application, and it is obvious to those skilled in the art that the present application can be applied to other similar cases according to the drawings without creative efforts. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
The term "embodiment" is used herein to mean that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly or implicitly understood by one of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the patent protection. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims (11)

1. A parking space detection method, characterized in that it comprises the steps of:
acquiring a parking area image acquired aiming at a parking position in a parking area;
detecting vehicle components of the parking area image; determining vehicle components related to the target vehicle from the detected vehicle components; the target vehicle is a vehicle in the parking area image, and the vehicle parts at least comprise a vehicle body and other vehicle parts except the vehicle body;
in response to determining that the body of the target vehicle does not exist in the vehicle parts associated with the target vehicle, determining a body boundary of the target vehicle based on the determined position information of the vehicle parts associated with the target vehicle;
determining a parking position at which the target vehicle parks based on a position distribution between a body boundary of the target vehicle and each parking position in the parking area image.
2. A parking space detection method according to claim 1, wherein said determining a vehicle component associated with the target vehicle from among the detected vehicle components comprises the steps of:
and according to the position distribution among the detected vehicle components, determining the vehicle components related to the target vehicle from the detected vehicle components.
3. The parking space detection method according to claim 2, wherein the determining the vehicle component associated with the target vehicle from the detected vehicle components according to the position distribution among the detected vehicle components comprises:
according to the detected position distribution among the vehicle components, the vehicle components belonging to the same vehicle are associated;
and determining the vehicle part related to the target vehicle according to the correlation result.
4. The parking space detection method according to claim 1, wherein in response to the determined vehicle component associated with the target vehicle including windows and a roof, the determining a body boundary of the target vehicle based on the determined position information of the vehicle component associated with the target vehicle comprises the steps of:
determining size information of a body of the target vehicle according to the size information of a window and the size information of a roof of the target vehicle; the size information of the window of the target vehicle is determined based on the position information of the window of the target vehicle, and the size information of the roof of the target vehicle is determined based on the position information of the roof of the target vehicle;
and determining the boundary of the vehicle body of the target vehicle according to the size information of the vehicle body of the target vehicle and the position information of the roof of the target vehicle.
5. The parking space detection method according to claim 4, wherein the parking area image is captured by an image capturing device, and after the determination of the size information of the body of the target vehicle based on the size information of the window and the size information of the roof of the target vehicle, before the determination of the boundary of the body of the target vehicle based on the size information of the body of the target vehicle and the position information of the roof of the target vehicle, the method further comprises:
determining a distance influence factor according to the distance between the target vehicle and the image acquisition equipment;
and adjusting the size information of the body of the target vehicle based on the distance influence factor.
6. The parking space detection method according to claim 4 or 5, wherein the size information includes a height, and the body boundary includes at least one boundary point on a boundary of one side of the body of the target vehicle that is close to the ground.
7. The parking space detection method according to claim 1, wherein said determining the body boundary of the target vehicle based on the determined position information of the vehicle part associated with the target vehicle in response to the determination of the vehicle part associated with the target vehicle including a roof and a rear view mirror comprises the steps of:
determining the height of a window of the target vehicle according to the position information of the rearview mirror of the target vehicle and the position information of the roof;
determining the height of the body of the target vehicle according to the height of the windows and the height of the roof of the target vehicle; the height of the roof of the target vehicle is determined based on the position information of the roof of the target vehicle;
and determining the body boundary of the target vehicle according to the height of the body of the target vehicle and the position information of the roof of the target vehicle.
8. The parking space detection method according to claim 7, wherein the parking area image is acquired by an image acquisition device, and the height of the window of the target vehicle is determined according to the position information of the rearview mirror and the position information of the roof of the target vehicle, comprising the steps of:
judging whether the face of the target vehicle faces the image acquisition equipment or not;
determining the height of a window of the target vehicle according to a first conversion relation between the position information of a rearview mirror and the position information of a roof of the target vehicle and the height of the window of the target vehicle in response to the face of the target vehicle facing the image acquisition device;
and determining the height of the window of the target vehicle according to a second conversion relation between the position information of the rearview mirror of the target vehicle and the position information of the roof of the target vehicle and the height of the window of the target vehicle in response to the fact that the face of the target vehicle faces away from the image acquisition device.
9. A parking space detection apparatus, characterized in that the apparatus comprises: the device comprises an acquisition module, a detection module, an estimation module and a determination module:
the acquisition module is used for acquiring a parking area image acquired aiming at a parking position in a parking area;
the detection module is used for detecting vehicle components of the parking area image; determining vehicle components related to the target vehicle from the detected vehicle components; the target vehicle is a vehicle in the parking area image, and the vehicle parts at least comprise a vehicle body and other vehicle parts except the vehicle body;
the estimation module is used for responding to the fact that the vehicle body of the target vehicle does not exist in the determined vehicle parts related to the target vehicle, and determining the vehicle body boundary of the target vehicle based on the determined position information of the vehicle parts related to the target vehicle;
the determining module is used for determining the parking positions where the target vehicle stops based on the position distribution between the body boundary of the target vehicle and the parking positions in the parking area image.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 8 are implemented when the computer program is executed by the processor.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.
CN202210789292.6A 2022-07-06 Parking berth detection method, device, computer equipment and storage medium Active CN115359650B (en)

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