JP6455921B2 - Parking detector - Google Patents

Description

  The present invention relates to parking that detects a parking situation in each parking mass of a large-scale parking lot including a large number of parking spaces such as a service area and a parking area of an expressway by performing image processing on image data obtained by bird's-eye view imaging. The present invention relates to a detection device.

  In large-scale parking lots such as highway service areas and parking areas, a camera is installed at a high position so that the parking lot can be seen from above. By processing the images captured by this camera, one vehicle is installed in the parking lot. There is known a device that detects the presence or absence of a parked vehicle in units of parking mass divided every time (Patent Document 1). As a specific vehicle detection method, an image obtained by capturing a region to be detected by a vehicle at regular time intervals is converted into digital density data, and the difference between the density data at the same position of the two images before and after is obtained. Extraction is performed to determine whether the vehicle is parked or empty.

JP-A-2-68698

  In this way, since it is possible to detect the parking situation of a plurality of parking spaces in the parking lot at once by using image processing, the image captured by the camera is from a high place so as to fit within a certain range of the parking lot. It must be a bird's-eye view. Therefore, a pillar having a height of 10 meters or more is erected for each fixed range captured by the camera, and a camera is attached to the upper part of each pillar to take a bird's-eye view of the parking lot. Therefore, a plurality of support columns will be erected in the parking lot, and some of them may be placed in a situation where cars or pedestrians move near the support column base. Surrounding safety measures will be required. Therefore, in addition to measures to prevent contact accidents with the support, so-called iron pillars are used in which the material of the support itself is an iron material in terms of strength and reliability.

  The steel pillars installed in the parking lot are directly exposed to the outside air in the outdoor environment, and thus undergo various environmental changes throughout the seasons. Due to excellent durability against wind and rain and sunlight, there is almost no problem that the strength of the pillars decreases or deteriorates due to weather changes within the range of service life, but thermal expansion due to the iron material There was a problem. As with railway rails and bridge steel frames, it is naturally known that shrinkage occurs in steel materials that make up columns due to temperature differences between summer and winter, or during daytime and nighttime. There is no particular problem with the entire column shrinking. The problem is when the column is exposed to direct sunlight during the day on fine weather. When the column is exposed to direct sunlight, a difference in thermal expansion occurs between the side receiving the sunlight and the shaded side, which is the opposite side, and the column is distorted. Specifically, when the surface facing the imaging lens of the camera attached to the upper part of the support is the front, if the back surface on the opposite side is irradiated with direct sunlight, it is compared with the front of the support As a result, a large amount of thermal expansion occurs on the back side, and the back side of the column extends to cause a phenomenon in which the entire column is bent in the imaging direction of the camera. As a result, the field of view imaged by the camera is shifted downward as compared to before the thermal expansion occurs. On the other hand, when the front of the support is exposed to direct sunlight, a large amount of thermal expansion occurs on the front side, causing a phenomenon that the field of view of the camera shifts upward. The deviation caused by this phenomenon does not fall within the error range when the height of the column is 10 meters, and is a noticeable deviation with a problem.

  In this way, when the angle of view with respect to the road surface of the parking lot changes and the field of view captured by the camera deviates, the parking mass to be subjected to image processing moves upward in the field of view or compared to the normal state. It moved downward, leading to the problem that it was not possible to correctly determine whether the parking mass was parked or not parked.

  The present invention is made in response to the above problem, in a parking detection device that detects the parking situation in the parking lot by performing image processing on image data obtained by bird's-eye imaging with a camera attached to the top of a high iron pole, Providing a device that can prevent the field of view captured by the camera from deviating even when exposed to direct sunlight on one side of the column in fine weather, and can always detect parking conditions stably. It is aimed.

(1) In order to achieve the above object, the present invention captures a plurality of parking spaces drawn in a parking lot, and detects a parking presence / absence in each parking space based on the captured images. A camera installed at a high position so as to take a bird's-eye image of a parking lot on which a parking mass is drawn, a support for holding the camera at a high position in the parking lot, and a cloud for fixing the camera to the upper part of the support for control of posture An image storage unit that stores an image of the parking mass captured by the camera, a parking detection unit that executes image processing based on the image stored in the image storage unit and detects whether each parking mass is parked And a real-time clock that outputs the current date and time, and an angle-of-view variable control unit that changes an angle of view to be captured by controlling an attitude of a camera fixed to the camera platform. Part , Date attitude control information for correcting such that the angle deviation of the camera caused the thermal expansion and the results produced by irradiation of sunlight in the strut by the positional relationship between the pillar and the sun back to normal angle and Proposed is a parking detection device that stores in advance in correspondence with time, reads out attitude control information corresponding to the current date and time output from the real-time clock, and performs attitude control of the camera. .

(2) Moreover, in the parking detection apparatus which images the several parking mass drawn on the parking lot, and detects the presence or absence of parking in each parking mass based on the captured image, it overlooks the parking lot on which the parking mass was drawn A camera installed at a high position for imaging, a support for holding the camera at a high position in a parking lot, an image storage unit for storing an image of a parking mass captured by the camera, and an image stored in the image storage unit Based on the above, a parking detection unit that detects whether or not each parking mass is parked, a real-time clock that outputs the current date and time, and a coordinate system set to the image stored in the image storage unit And an angle-of-view correction unit that changes an angle of view by moving an image captured by the camera at a predetermined angle of view in the coordinate system, and the angle-of-view correction unit includes a positional relationship between the support column and the sun. By The strut to the thermal expansion that occurs upon exposure to sunlight and the angle deviation of the result as happens camera, previously stored in correspondence with the view angle correction information date and time to correct to return to the normal angle of view Te A parking detection device that reads angle-of-view correction information corresponding to the current date and time output from the real-time clock and corrects the angle of view by moving the image in the coordinate system. suggest.

  (3) The proposed parking detection device includes a solar radiation detecting unit for detecting the ambient solar radiation amount, and when the ambient solar radiation amount is equal to or greater than a predetermined value in a daytime period, the field angle variable control unit It is desirable to perform camera angle control or field angle correction by the field angle correction unit.

  According to the present invention, the camera is fixed to the upper part of a support made of iron pillars via a pan head so that the attitude can be controlled, and the camera attitude control information stored in advance corresponding to the date and time throughout the year is stored. Then, the one corresponding to the current date and time is read out to control the posture of the camera. Thus, when the column is irradiated with direct sunlight at the current date and time at the place where the column is installed, the camera attitude control information stored in advance, that is, the position of the column and the sun It is possible to perform posture control to read out information related to the thermal expansion of the support column caused by the relationship and the amount of view angle deviation of the resulting camera and correct the view angle deviation so as to return to the normal angle of view. Therefore, it is possible to correct the field angle deviation that occurs when the column receives direct sunlight without having a function of detecting the field angle deviation of the camera each time.

  In addition, the camera is fixed to the upper part of the support column, and the one corresponding to the current date and time is read out from the camera angle-of-view correction information stored in advance corresponding to the date and time throughout the year. The angle of view of the image captured by the camera is corrected by software processing. As a result, in the flow of image processing without using mechanical elements, an image captured in a state in which the column is subjected to direct sunlight under the current date and time and includes a field angle deviation is used. It becomes possible to perform correction so as to return to a normal angle of view.

  In addition, posture control for detecting the amount of solar radiation around the place where the parking detection device according to the present invention is installed and correcting the angle of view of the camera when the amount of solar radiation around the daytime is a predetermined value or more is performed. Like to do. As a result, it is possible to distinguish whether the surrounding situation is in a state of receiving sunlight or whether it is in a cloudy, rainy, snowy, or sunset state where there is no sunlight. The angle-of-view shift correction can be performed only under a possible condition. Accordingly, it is possible to avoid a state in which unnecessary correction of the angle of view correction has an adverse effect and interferes with the parked vehicle detection operation, and a stable parked vehicle detection operation can be performed.

It is explanatory drawing which shows the structure of the parking detector based on this invention Example. It is explanatory drawing which shows the detailed structure of the imaging part which concerns on an Example of this invention. It is explanatory drawing which shows the detailed structure of the image processing apparatus which concerns on an Example of this invention. It is explanatory drawing which shows the positional relationship of a camera and a parking mass. It is explanatory drawing which shows the distortion of the support | pillar which generate | occur | produces in direct sunlight, and the visual field change of a camera. It is explanatory drawing which shows the detailed structure of the image processing apparatus which concerns on an Example according to this invention.

  Preferred embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an explanatory view showing the configuration of a parking detection apparatus according to an embodiment of the present invention. As shown in FIG. 1, the parking detection device 1 of the present invention is roughly composed of two components. One of them is the image processing device 2, and this image processing device 2 performs image processing on an image obtained by imaging the parking area in the parking lot, and detects whether or not the parking mass drawn in the parking area is parked. The remaining second component is the imaging unit 3, and this imaging unit 3 is composed of a plurality of cameras 4. A parking area prepared in the parking lot is leaked by collecting images captured by the cameras. A plurality of cameras are scattered and installed in the parking lot so that all images can be captured. An image captured by the camera 4 is output to the image processing apparatus 2 via the camera relay unit 5. Reference numeral 16 denotes an illuminance sensor. The illuminance sensor is composed of, for example, a plurality of photodiodes, and measures the illuminance around the place where the parking detector is installed. The illuminance data measured by the illuminance sensor 16 is output to the image processing device 2.

  Next, a detailed configuration of the imaging unit 3 will be described with reference to FIG. The camera 4 is composed of a camera body 4-1 and a lens 4-2 housed in a waterproof housing. The housing is provided with a heater for preventing the imaging window from freezing, a defroster, a fan, and the like for removing fogging of the imaging window. Reference numeral 6 denotes a video encoder which takes in an NTSC analog video signal output from the camera 4 and encodes it into a digital video signal. Reference numeral 7 denotes a step-down transformer that steps down the power taken from the parking lot facility where the parking detector 1 of the present invention is installed to an alternating current of 100 volts. Here, the electric power converted into AC 100 volts is supplied to the camera 4 and also supplied as DC power to the devices constituting the camera relay unit through the DC stabilized power supply 8. Reference numeral 9 denotes an L2 switch, which outputs a digital video signal output from the video encoder 6 to the image processing device 2 or outputs a digital video signal output from another camera as a lower station and a camera relay unit to the image processing device. Output to 2 or transferred to the upper station. Reference numeral 10 denotes an optical connection box, which connects an optical fiber cable with a camera relay unit of a lower station or an upper station, and connects an optical fiber cable with the image processing apparatus 2.

  Next, a detailed configuration of the image processing apparatus 2 will be described with reference to FIG. A console 11 includes a monitor display 11-1, a keyboard 11-2, and a mouse 11-3, and provides a console function for using functions of various control units and various processing units described later. A console control unit 12 provides functions of the console 11 such as “status monitor”, “output of recording data relating to parking lot”, and “system setting”. As the “status monitor” function, information on the status of various devices and facilities constituting the parking detection device 1 is displayed, and the congestion status of the entire parking lot is displayed. As the “output of recorded data” function, the aggregated data of parking congestion status and other recorded data are displayed, and these data are output in the CSV file format. As the “system setting” function, a setting relating to a parking space for specifying a parking place, a parameter for determining a parking congestion state, and the like are performed.

  An image processing unit 13 performs image processing on the digital video signal input from the imaging unit 3 and detects the presence or absence of a parked vehicle in a parking mass that is a parking area. The image processing unit 13 has functions of “video acquisition”, “video output”, “vehicle detection”, “parking status data output”, “parking status monitoring”, and “facility status output”. The “video acquisition” function is a function of acquiring a video signal of a parking mass that is captured and input by the imaging unit 3, and the input video signal is sequentially stored in the image storage unit 13-1. The “video output” function outputs the acquired video signal to the monitor display 11-1 of the console 11, and also outputs it to a parking situation determination unit described later. The “vehicle detection” function performs image processing on the acquired video signal in the parking detector 13-2, detects a vehicle in the parking mass, and creates parking status data. The “parking status data output” function outputs the parking status data created by the parking detection unit 13-2 to a parking status determination unit described later. The “facility state monitoring” function monitors the operating state to determine whether or not a failure has occurred in the imaging unit 3 and collects information on the facility operating state. “Equipment status output” outputs the collected facility operating status information to a parking status determination unit described later.

  Reference numeral 14 denotes a parking state determination unit that receives the parked vehicle detection information output from the image processing unit 13 and determines the parking state in three stages of “full”, “crowded”, and “empty” for the entire parking lot and for each parking block. In this parking status determination unit 14, "video acquisition" "video output" "parking status data acquisition" "congestion status determination" "congestion status determination data recording" "congestion status determination data output" "facility status monitoring" "facility status recording" "Equipment status output" The “video acquisition” function is a function of acquiring a video signal of a parking mass that is captured and input by the imaging unit 3. The “video output” function is a function for outputting the acquired video signal to the monitor display 11-1 of the console 11. The “parking status data acquisition” function is a function for acquiring parking status data created and output by the image processing unit 13. “Congestion status determination” calculates the parking rate of the entire parking lot, large car parking area, small car parking area, and each parking block based on the acquired parking situation data. Judged in three stages of “empty car”. The “congestion status determination data recording” function is a function for recording and managing the congestion status determination data (parking rate and three-stage determination result) for determining the congestion status. The “congestion status determination data output” function is a function for outputting the congestion status determination data to a device that is an upper station of the parking detection device 1. The “equipment state monitoring” function is a function of monitoring the operating state to determine whether or not a failure has occurred with respect to the entire parking detection device and collecting information on the equipment operating state. The “facility status recording” function is a function for recording the collected facility operating state information (failure information). The “equipment status output” function is a function for outputting equipment operation state information (failure information) to the upper station.

  Reference numeral 15 denotes an angle of view variable control unit, which stores in advance camera posture control information corresponding to the date, and pan-tilts a pan head (described later) interposed between the camera 4 and a column (described later). Operate to control the posture of the camera. The angle of view variable control unit 15 has functions of “calendar information output”, “posture control information output”, and “sunlight amount information acquisition”. The “calendar information output” function is a function for outputting calendar information indicating the current date, day, and time from the real-time clock 15-1. The “posture control information output” function stores in advance the posture control information for controlling the posture of the camera in order to adjust the angle of view taken by the camera in association with the year and month of the year, and the real time clock 15- 1 is a function for outputting attitude control information corresponding to the calendar information output from 1. The “irradiance information acquisition” function is a function for acquiring illuminance data relating to ambient brightness measured by the illuminance sensor 16 as the amount of solar radiation. When the illuminance data to be acquired is equal to or greater than a predetermined threshold value set in advance, the surrounding weather condition is determined to be “sunny”. When the weather is fine, it is determined that the parking detector can be exposed to direct sunlight, and posture control information corresponding to the date and time is output.

  17-1 and 17-2 are L2 switches, and 17-1 is connected to the camera relay unit 5 of the imaging unit 3 via the optical connection box 10. The L2 switch 17-2 is connected to a supervisory control device (not shown) that is a higher-level station of the parking detection device 1, and outputs congestion state determination data output from the parking state determination unit 14 to the monitoring control device. The monitoring control device is a device that performs display control of an information display board using a display element such as an LED based on the congestion status determination data received from the parking detection device 1 and performs a parking lot guidance display. An uninterruptible power supply 18 supplies power to the image processing apparatus 2 when a commercial power supply fails. As this uninterruptible power supply 18, a well-known uninterruptible power supply (UPS) can be adopted. Reference numeral 8 denotes a DC stabilized power supply, which converts AC power supplied through the uninterruptible power supply 18 into DC power and supplies the DC power to devices constituting the image processing apparatus 2.

  Next, the positional relationship between the camera 4 and the parking mass will be described with reference to FIG. Fig.4 (a) is explanatory drawing which showed the positional relationship of the parking mass of the state in which the vehicle was parked, and the camera which images it from the side. Reference numeral 20 denotes a support column made of an iron material, and a pan head 21 is attached to an upper portion of the support column 20 erected in the parking lot. The camera platform 21 holds the camera 4 and has a function of moving the held camera in the pan direction and the tilt direction. Incidentally, the pan direction operation is an operation for rotating the lens 4-2 of the camera 4 in the left-right direction (horizontal direction), and the tilt direction operation is an operation for rotating the lens 4-2 in the up-down direction (vertical direction). It is. As already described, the pan head 21 is controlled in pan / tilt operation in response to a signal from the angle variable control unit 15 to adjust the posture of the camera. A parking space 22 indicating a parking place is drawn on the road surface in the parking lot, and the vehicle is parked at a place surrounded by the parking space. FIG. 4B is an explanatory diagram showing the positional relationship between the parking mass in a state where the vehicle is parked and the camera that images the parking mass from above. A plurality of parking squares are drawn on the road surface of the parking lot, and parking squares 22-1 to 22-6 corresponding to six cars with respect to one camera are targets for parking detection. In this case, the center line CL of the angle of view captured by the camera is set to be perpendicular to the line in the vehicle width direction of the parking mass.

  When the parking object is a small car, the positional relationship between the camera 4 and the parking mass 22 placed in such a configuration is as follows: “Camera installation height H is 10 meters or more” “Depression angle θ is 30 degrees or more” “Parking mass The dimensions are 2.5 meters wide and 5 meters long (white line width 150 millimeters) ". If the object to be parked is a large vehicle, “Camera installation height H is 13.5 meters or more” “Depression angle θ is 30 degrees or more” “Parking mass dimensions are 3.25 meters wide and 13.5 meters long (white line) Width 150 mm) ". As a condition common to small cars and large cars, “the number of squares to be detected for parking is within six consecutive squares in a row” “an area of eight consecutive squares centering on six consecutive squares to be detected is within the angle of view. "Adjust the focal length of the lens." "Imaging is from the front located in the center of the angle of view and from the direction of entering and exiting the vehicle." "The road surface is a generally uniform pavement."

  Next, the distortion of the column due to the thermal expansion that occurs when the column 20 is irradiated with direct sunlight and the change in the visual field of the camera that occurs in that case will be described with reference to FIG. FIG. 5A shows a state in which direct sunlight hits the front of the support column 20 (the surface facing the camera lens) in the morning, and thermal expansion is biased toward the front side of the support column. Since the thermal expansion on the front side becomes larger than the back side of the support column, a phenomenon occurs in which the entire support column 20 is curved so as to bend and the field of view captured by the camera is shifted upward. As a result, the position of the parking mass in the camera field of view is shifted downward as compared with a normal state in which the support column 20 is not distorted. FIG. 5B shows a state in which it is an afternoon time zone at the same place as FIG. 5A, and this time direct sunlight hits the back surface of the support column 20 and thermal expansion is biased toward the back side of the support column. . Since the thermal expansion on the back side is larger than the front side of the support, the entire support 20 is bent forward and the field of view captured by the camera is shifted downward. As a result, the position of the parking mass in the camera field of view is shifted to the upper side as compared with a normal state in which the support column 20 is not distorted and images are taken. As shown in FIGS. 5 (a) and 5 (b), if the position of the parking mass in the field of view captured by the camera is moved, the detection accuracy for determining the presence / absence of parking will be reduced. Operate to adjust the camera posture. In the case of FIG. 5A, the posture of the camera is adjusted downward so that the depression angle of the camera shown in FIG. 4A becomes a normal value, and in the case of FIG. 5B, the posture of the camera is directed upward. Adjust to. In this way, the amount of panning and tilting operations to adjust the camera posture is based on the camera field of view in a clear sky day, with the camera field of view in a state where thermal expansion distortion has not occurred in the column. The deviation amount is measured in advance, and the deviation amount is set to be corrected by the pan direction operation and the tilt direction operation. A panning / tilting operation correction amount for each time zone for each day is set throughout the year, and the set value is stored in the angle of view variable control unit 15.

  By the way, in the summer when deformation of the support column due to thermal expansion is most prominent, the sun trajectory (the ecliptic) is at a higher position with respect to the support column. Front and back. Therefore, as shown in FIG. 5, when the camera is set in the eastward direction or in the westward direction, the camera posture adjustment mainly includes a tilt operation. If the imaging direction of the camera is south or north, direct sunlight is radiated on the side of the column, and the camera field of view shifts clockwise or counterclockwise. In such a case, a pan head that can perform a roll direction operation (an operation to rotate the camera posture so that the camera lens rotates clockwise / counterclockwise) in addition to the pan direction operation and the tilt direction operation may be used. .

  Next, another embodiment of the present invention will be described with reference to FIG. In the first embodiment, an example is described in which the camera is fixed to the upper part of the support column via a pan head so that the posture can be controlled, and the pan head is tilted to control the posture of the camera by a mechanical operation to correct the angle of view. However, in this embodiment, an example in which the angle of view is corrected by software processing will be described. FIG. 6 is an explanatory diagram illustrating a configuration of the image processing apparatus 2 according to the second embodiment. Description of parts having the same functions as those in the first embodiment already described with reference to FIGS. 1 to 5 and having the same reference numerals will be omitted.

  In this embodiment, an angle-of-view correcting unit 23 is provided instead of the angle-of-view variable control unit 15 connected to the console 11 of FIG. This angle-of-view correction unit 23 stores the angle-of-view correction information of the camera in advance in association with the month and day, and performs software processing on an image captured at a predetermined angle of view by the camera installed on the top of the support column. The angle of view is corrected by. This angle-of-view correction unit 23 has functions of “calendar information output”, “image movement processing”, and “acquisition of solar radiation amount information”. The “calendar information output” function is a function for outputting calendar information indicating the current date, day, and time from the real-time clock 15-1. “Image movement processing” stores in advance angle-of-view correction information that corrects an image captured in a state including an angle-of-view shift to an image captured at a normal angle of view in association with the date and time of the year. The function is to read and correct the angle of view correction information corresponding to the calendar information output from the real-time clock 15-1. Specifically, as shown in FIG. 5, a coordinate system is set for an image captured in a state including a field angle shift, and, for example, in the case of FIG. 5A along the coordinate axis of this coordinate system. The entire image is translated upward, and in the case of FIG. 5B, the entire image is translated downward. By this software processing, the angle of view is corrected to return the image captured when the column is distorted and the parking mass is displaced to the position captured in a normal state where the column 20 is not distorted. The “irradiance information acquisition” function is a function for acquiring illuminance data relating to ambient brightness measured by the illuminance sensor 16 as the amount of solar radiation. When the illuminance data to be acquired is equal to or greater than a predetermined threshold value set in advance, the surrounding weather condition is determined to be “sunny”. When the weather is fine, it is determined that the parking detector can be exposed to direct sunlight, and correction of the angle of view corresponding to the date and time, that is, “image movement processing” is executed.

  As described above, it is also possible to perform correction for returning an image including a field angle shift due to thermal expansion of the support to a normal field angle state by software processing. According to this embodiment, it is possible to reduce the mechanical movable parts as much as possible, and it is possible to reduce the cost and the risk of failure.

  According to the present invention, in a device that uses a column to install a camera at a high outdoor position and uses an image or video captured from a bird's-eye view, as a device that corrects a shift in the camera field of view or a shift in the angle of view captured by the camera. Can be used.

DESCRIPTION OF SYMBOLS 1 Parking detection apparatus 2 Image processing apparatus 3 Imaging part 4 Camera 4-1 Camera main body 4-2 Lens 5 Camera relay part 13 Image processing part 13-1 Image memory | storage part 13-2 Parking detection part 14 Parking condition discrimination | determination part 15 Angle of view Variable control unit 15-1 Real-time clock 16 Illuminance sensor (sunlight detection means)
20 support 21 pan head 22 parking mass 23 angle of view correction unit

Claims (3)

In the parking detection device that images a plurality of parking masses drawn in the parking lot and detects the presence or absence of parking in each parking mass based on the captured image,
A camera installed at a high position so as to take a bird's-eye image of a parking lot on which a parking mass is drawn, a support for holding the camera at a high position in the parking lot, and a cloud for fixing the camera to the upper part of the support for control of posture An image storage unit that stores an image of the parking mass captured by the camera, a parking detection unit that executes image processing based on the image stored in the image storage unit and detects whether each parking mass is parked A real-time clock that outputs the current date and time, and an angle-of-view variable control unit that changes the angle of view to be captured by controlling the attitude of the camera fixed to the camera platform.
The angle-of-view variable control unit corrects the thermal expansion caused by irradiation of the column with sunlight and the resulting angle difference of the camera to return to a normal angle of view depending on the positional relationship between the column and the sun. Posture control information is stored in advance in association with the date and time, and the posture control information corresponding to the current date and time output from the real-time clock is read to perform posture control of the camera. Parking detector to do. In the parking detection device that images a plurality of parking spaces drawn in the parking lot and detects the presence or absence of parking in each parking space based on the captured image,
A camera installed at a high position so as to take a bird's-eye image of a parking lot on which a parking mass is drawn, a support that holds the camera at a high position in the parking lot, and an image storage unit that stores an image of the parking mass captured by the camera A parking detection unit that performs image processing based on the image stored in the image storage unit and detects whether each parking mass is parked, a real-time clock that outputs the current date and time, and the image storage An angle-of-view correction unit that sets a coordinate system for the image stored in the unit and changes the angle of view by moving an image captured by the camera at a predetermined angle of view in the coordinate system;
The angle-of-view correction unit corrects the thermal expansion that occurs when the column is irradiated with sunlight by the positional relationship between the column and the sun and the resulting angle-of-view shift of the camera to return to a normal angle of view. The angle correction information is stored in advance in correspondence with the date and time, and the image angle correction information corresponding to the current date and time output from the real-time clock is read to move the image in the coordinate system. A parking detection device that corrects an angle of view.   3. The parking detector according to claim 1, further comprising solar radiation detecting means for detecting ambient solar radiation amount, wherein the angle of view variable control is performed during a daytime and when the ambient solar radiation amount is a predetermined value or more. A parking detection device that performs posture control of the camera by a unit or field angle correction by the field angle correction unit.

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