KR101538488B1 - Parking lot management system and method using omnidirectional camera - Google Patents

Abstract

The present invention relates to a parking lot management system and method capable of detecting vehicles parked on a plurality of parking surfaces using a single omnidirectional camera and performing a security function. The one-to-many parking lot management system according to an embodiment of the present invention manages a parking lot where a plurality of parking surfaces are arranged in a plurality of rows, and comprises: an omnidirectional camera installed on a ceiling of the parking lot between two neighboring rows among the plurality of rows, and provided with a fisheye lens to photograph an omnidirectional monitoring image; a cable connected to the omnidirectional camera to transmit the monitoring image; and a management server connected to the cable to receive the monitoring image. The management server comprises: a vehicle detection module to use the monitoring image to determine whether vehicles are parked on the plurality of parking surfaces; and a security module having a memory to store the monitoring image. A portion of parking surfaces arranged in a first row and a portion of parking surfaces arranged in a second row are photographed on the monitoring image. The first row and the second row are the two neighboring rows where the omnidirectional camera is installed.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking lot management system,

The present invention relates to a single multi-faced parking lot management system and method for managing a multi-faced parking lot using a omnidirectional camera. More specifically, it is possible to detect a vehicle parked on a plurality of parking lots using one omnidirectional camera, To a possible parking management system and management method.

Large buildings such as department stores, large shopping centers, and hospitals, which have a large population of floating population, generally have large parking facilities that provide a large number of parking spaces. However, in recent years, to be.

Especially, on weekends and public holidays, a lot of people are crowded, so that there are a lot of cases in which the parking space is insufficient. Therefore, there is a problem in that time and money are consumed because the user wanders around inside the large parking facility for parking.

Accordingly, a parking induction system has been developed and widely commercialized that displays the driver's presence or absence of a sufficient parking space by using a sensor that detects whether or not the vehicle is parked on the parking surface, thereby providing convenience of parking.

A conventional general parking guidance system uses a sensor installed on each parking surface to detect whether or not the vehicle is parked.

However, the sensor used in the conventional parking guidance system is relatively expensive, and there is a problem in that it requires a lot of cost and effort to maintain and manage. These sensors frequently misidentify objects other than vehicles, such as people and carts, as vehicles, and there are problems that cause inconvenience due to the five senses.

In addition, in order to install the CCTV in the parking facility in order to perform the security function, there is a problem in that the equipment cost is large because the separate camera equipment, wiring and management PC have to be installed, and maintenance and management are also difficult There was a problem.

Accordingly, there is a demand for development of a system capable of not only detecting a vehicle more efficiently and inducing parking but also providing security functions such as security.

Korean Patent Publication No. 10-2011-0038276 Korean Patent Publication No. 10-2006-0041461 Korean Utility Model Publication No. 20-2008-0004292 92

Disclosure of Invention Technical Problem [8] Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide a parking management system and a management method capable of detecting a vehicle parked on a plurality of parking surfaces using a single omnidirectional camera, To the user.

More specifically, the present invention is capable of photographing a parking space of about 12 faces in one omnidirectional camera, eliminating the need for installation of many cameras, requiring no separate CCTV installation, being economical, easy to maintain and manage, And a parking lot management system capable of providing a security function by using the parking lot management system.

In addition, the present invention can effectively detect a vehicle by installing a sensor on a parking surface at a position where the omnidirectional camera can not shoot due to the structure of the parking lot or a parking surface at a position where the illumination is too weak or too weak to detect the vehicle, The present invention provides a parking lot management system capable of preventing a parking lot from being damaged.

It is another object of the present invention to provide a parking lot management system that can simplify wiring facilities by operating a sensor and an omnidirectional camera in cooperation with each other, reduce installation cost, and significantly shorten a construction period.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. It can be understood.

In a system for managing a parking lot in which a plurality of parking planes are arranged in a plurality of rows, a single multi-faced parking lot management system related to an example of the present invention for realizing the above- An omnidirectional camera installed in the car park ceiling between the omnidirectional camera and the omnidirectional camera and photographing omnidirectional surveillance images; A cable connected to the omnidirectional camera to transmit the surveillance image; And a management server connected to the cable and receiving the monitoring video, wherein the management server comprises: a vehicle detecting module for determining whether the vehicle is parked on the plurality of parking faces using the monitoring image; And a security module having a memory for storing the monitoring image, wherein a part of the parking surface arranged in the first column and a part of the parking surface arranged in the second column are photographed in the monitoring image, And the second row is a neighboring two columns in which the omnidirectional camera is installed.

Also, the number of parking surfaces arranged in the first row photographed by the monitoring image is 5 to 7, and the number of parking surfaces arranged in the second row photographed by the monitoring image is 5 to 7.

The vehicle detection module may further include: an area setting unit configured to set an area of the parking surface that is photographed on the monitored image; A feature detector for extracting a feature vector from the area of the parking plane set by the area setting unit; And a detecting unit for determining whether the vehicle is parked in the area of the parking surface using the feature vector.

And a sensing sensor provided adjacent to a first parking surface, which is a part of the plurality of parking surfaces, for sensing a vehicle positioned on the first parking surface and generating a sensing signal corresponding to the sensing result, The cable may be connected to the sensing sensor interlocked with the omnidirectional camera to transmit the sensing signal to the management server.

The first parking surface is disposed at a position where it is impossible to determine whether or not the parking detection of the vehicle detection module is possible in accordance with a change in an environmental factor including a second parking surface and illuminance disposed in a shooting blind spot of the omni- And a third parking surface that is the first parking space.

In addition, the vehicle detection module may determine whether the vehicle is parked on the first parking surface using the detection signal.

In addition, when the vehicle detection module can determine whether the vehicle is parked on the third parking surface using the monitoring image, the vehicle detection module additionally uses the monitoring image to detect whether the vehicle is parked on the third parking surface Or not.

The control server may further include a pager for outputting a predetermined indication related to whether the vehicle is parked on the plurality of parking faces, wherein the management server can control the output of the pager differential according to the determination of the vehicle detection module .

On the other hand, in a method for managing a parking lot management system in which a plurality of parking planes are arranged in a plurality of rows, a one-on-one parking lot management method related to an example of the present invention for realizing the above- A first step in which an omnidirectional camera captures an omnidirectional surveillance image; A second step of transmitting the monitoring image through a cable connected to the omnidirectional camera; A third step in which the management server connected to the cable receives the monitoring image; And a fourth step of determining whether or not the vehicle is parked on the plurality of parking surfaces using the monitoring image, wherein the omnidirectional camera includes a plurality of neighboring two columns of the plurality of columns Wherein a part of the parking surface arranged in the first column and a part of the parking surface arranged in the second column are photographed in the monitoring image, and the first column and the second column are arranged in the same direction as the omnidirectional camera And the management server may further include a security module having a memory for storing the monitoring image.

Disclosure of Invention Technical Problem [8] Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide a parking management system and a management method capable of detecting a vehicle parked on a plurality of parking surfaces using a single omnidirectional camera, To the user.

More specifically, the present invention is capable of photographing a parking space of about 12 faces in one omnidirectional camera, eliminating the need for installation of many cameras, requiring no separate CCTV installation, being economical, easy to maintain and manage, A parking lot management system capable of providing a security function can be provided to the user.

In addition, the present invention can effectively detect a vehicle by installing a sensor on a parking surface at a position where the omnidirectional camera can not shoot due to the structure of the parking lot or a parking surface at a position where the illumination is too weak or too weak to detect the vehicle, Can be provided to the user.

Further, the present invention can provide a user with a parking lot management system in which a wiring facility can be simplified, a installation cost can be reduced, and a construction period can be significantly shortened by operating the sensor and the omnidirectional camera in an interlocked manner.

It should be understood, however, that the effects obtained by the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those skilled in the art to which the present invention belongs It will be possible.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate a preferred embodiment of the invention and, together with the description, serve to provide a further understanding of the technical idea of the invention, It should not be construed as limited.
1A and 1B show an example of a parking lot in which the one-on-one multi-side parking lot management system of the present invention is implemented.
2A and 2B show an embodiment of a surveillance image by a omnidirectional camera which can be applied to the present invention.
Fig. 3 shows an example of a block diagram of a single multi-faced parking lot management system of the present invention.
4 is a flowchart illustrating a method of managing a parking lot according to an embodiment of the present invention.
5A to 5C show an embodiment of a vehicle detection process that can be applied to the present invention.

Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings. In addition, the embodiment described below does not unduly limit the contents of the present invention described in the claims, and the entire configuration described in this embodiment is not necessarily essential as the solution means of the present invention.

In the conventional parking management system, the detection sensor is connected to the controller or the server separately from the detection camera, which is disadvantageous in terms of cost and efficiency.

The present invention proposes a parking lot management system and a management method thereof that can simultaneously detect a vehicle and secure function for inducing parking by configuring the omnidirectional camera to interlock with a detection sensor.

<One large parking lot management system>

Hereinafter, a single multi-faced parking lot management system proposed by the present invention will be described in detail with reference to the drawings.

1A and 1B show an example of a parking lot in which the one-on-one multi-side parking lot management system of the present invention is implemented.

Referring to FIG. 1A, the single multi-faceted parking lot management system of the present invention can be applied to an indoor large parking lot 100 in which a plurality of parking faces 30 are arranged in a plurality of rows. 1A shows a part of a parking lot 100 to which the present invention is applied, and each parking surface 30 is provided with a space in which one vehicle 40 can be parked.

The omnidirectional camera 10 is installed on a raceway on the ceiling of the parking lot 100 and is installed between two adjacent rows among a plurality of rows formed by the plurality of parking faces 30. [ That is, if one of the plurality of columns is referred to as a first column and the neighboring column to the first column is referred to as a second column, the omnidirectional camera 10 is installed between the first column and the second column.

The omnidirectional camera 10 is implemented using a camera equipped with a fisheye lens. When a fish-eye lens having a wide angle of view is used, an image of an omnidirectional (360) region can be photographed around the omnidirectional camera 10.

As shown in FIG. 1A, the omnidirectional camera 10 takes an image of the periphery where the omnidirectional camera 10 is installed. The area photographed by the omnidirectional camera 10 includes the vehicle detection area 12 and the security function area 14 of the parking lot 100. [

The vehicle detection area 12 includes a parking area 30 near the column where the omnidirectional camera 10 is installed and approximately one omnidirectional camera 10 includes a vehicle detection area 12 can be photographed. For example, the vehicle detection area 12 may include five to seven areas of the parking surface 30 disposed in the first and second columns, respectively.

The surveillance image photographed by the omnidirectional camera 10 includes the vehicle detection area 12 and the image of the vehicle detection area 12 is as shown in Figs. 2A and 2B.

2A and 2B show an embodiment of a surveillance image by a omnidirectional camera which can be applied to the present invention. FIG. 2A shows a surveillance image taken by the omnidirectional camera 10, and FIG. 2B is an image obtained by converting the image of FIG. 2A.

The surveillance image photographed by the omnidirectional camera 10 can be converted into an image as shown in FIG. 2B by adjusting distances according to distance and nearness to eliminate distortion of each area. As a method of correcting such distorted image information, forward mapping through interpolation of correction coefficients and interpolation associated therewith can be utilized. Assuming a corrected image in advance, Inverse mapping, which is a method of finding which point is matched, may be used.

Referring again to FIG. 1A, the omnidirectional camera 10 is installed in an appropriate number so as to cover all the plurality of parking surfaces 30 arranged in the parking lot 100. A plurality of omnidirectional cameras 10 installed in the parking lot 100 can be connected to the management server 200 by a cable 20.

1B, a detection sensor 15 may be separately installed on a parking surface of the parking space 30 of the parking lot 100 at a position where it is difficult to detect the vehicle 40 by the omnidirectional camera 10 . Here, the detection sensor 15 may be an ultrasonic sensor, a laser sensor, a photo sensor, or the like.

The detection sensor 15 may be installed on a parking surface located in a shooting blind spot of the omnidirectional camera 10. 1B, it may be difficult to photograph the parking surface 32 located on the side of the column in the structure of the parking lot 100 by the omnidirectional camera 10, and a detection sensor 15 is installed on the parking surface 32 The detection of the vehicle 40 can be facilitated.

In addition, it may be necessary to install the detection sensor 15 on the parking surface disposed at a position where it is impossible to judge whether or not the parking is possible according to the change of environmental factors including illuminance. If the illuminance increases above a predetermined value, it may be difficult to detect the vehicle 40 even if photographing by the omnidirectional camera 10 is possible. Conversely, even in the case of a parking surface at a position where the illuminance is too low, the vehicle 40 may not be detected properly. Even though the camera can be photographed by the omnidirectional camera 10, the detection sensor 15 may be separately provided on the parking surface where the detection of the vehicle 40 using the monitoring image may be difficult, thereby facilitating the detection of the vehicle.

The sensing sensor 15 can recognize an object positioned on the parking surface on which the sensing sensor 15 is installed and generates a sensing signal according to recognition.

The detection sensor 15 is connected to the omnidirectional camera 10 and operates in conjunction with the omnidirectional camera 10. Since the detection sensor 15 and the omnidirectional camera 10 are connected by the single cable 20, there is no need for additional wiring, and the facility is simplified and a unified process is possible.

On the other hand, Fig. 3 shows an example of a block diagram of a one-sided parking lot management system of the present invention.

Referring to FIG. 3, the omnidirectional camera 10 installed in the parking lot 100 is connected to the management server 200 by a cable 20. The management server 200 receives the surveillance image information photographed by the omnidirectional camera 10 and the sensing signal generated by the sensing sensor 15.

The management server 200 includes a vehicle sensing module 210 for determining whether the vehicle 40 is parked on a plurality of parking faces 30 of the parking lot 100 and a memory 232 for storing the monitoring image And a security module 230. In addition, the management server 200 can be operated in conjunction with the emergency bell apparatus and the lighting control apparatus of the parking lot 100.

The vehicle detection module 210 includes an area setting unit 212, a feature detecting unit 214, a detecting unit 216, and the like.

The area setting unit 212 sets the area of the parking surface 30 that is the area where the vehicle 40 is parked on the monitoring image photographed by the omnidirectional camera 10. The feature detecting unit 214 extracts a feature vector from a region of the parking plane set by the region setting unit 212. The detecting unit 216 detects the feature vector by using the feature vector extracted by the feature detecting unit 214, It is determined whether or not the vehicle 40 is parked.

The security module 230 has a memory 232 for storing a monitoring image and the monitoring image stored in the memory 232 can be set to be accessible when a security-related problem occurs in a parking facility to which the present invention is applied have.

The memory 232 included in the security module 230 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory A random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable memory (ROM) Read-Only Memory), a magnetic memory, a magnetic disk, and an optical disk.

The management server 200 may further include a display unit, an audio output module, a warning unit, a communication unit, an interface unit, and the like.

The display unit may output a surveillance image stored in the memory 232 or may output a transmitted / received image through a communication unit, and may display a related UI (User Interface) or a GUI (Graphic User Interface).

The display unit may include a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, And a three-dimensional display (3D display).

The sound output module can output audio data received from the communication unit or stored in the memory. The sound output module also outputs an acoustic signal related to a function (e.g., full-time confirmation, etc.) performed in the management server 200. [ Such an audio output module may include a receiver, a speaker, a buzzer, and the like.

The warning unit outputs a signal for notifying the management server 200 of the occurrence of an event. Examples of the event generated in the management server 200 include the fullness or tolerance state of the parking surface, the occurrence of an accident in the intermittent area or the occurrence of a crime.

In addition to the audio signal or the video signal, the warning unit may output a different form, for example, a warning notice document. In this case, a printer for outputting the warning notice document may be connected.

The communication unit may include one or more modules that enable communication between the management server 200 and the wire / wireless communication system or between the management server 200 and a network in which the management server 200 is located.

(WLAN), Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access), WCDMA (Wideband Code Division Multiple Access), HSDPA (High Speed Downlink Packet Access, and LTE (Long Term Evolution).

The interface unit serves as a path to all the external devices connected to the management server 200. The interface unit receives data from an external device or receives power from the external device, transfers the data to each component in the management server 200, or allows data in the management server 200 to be transferred to an external device.

An external charger port, a wired / wireless data port, a memory card port, a port for connecting a device equipped with the identification module, an audio I / / O (input / output) port, and video I / O (input / output) port can be included in the interface section.

On the other hand, in the parking lot 100 to which the present invention is applied, a plurality of parking spaces 30 may be provided with a differential gate (not shown) indicating whether or not the vehicle 40 is parked. A pseudo-differential may be installed integrally with the omnidirectional camera 10 or may be installed separately.

The pneumatic differential outputs an indication to the driver who entered the parking lot 100 to easily indicate whether or not there is a space available for parking. The display may include a visual output relating to a predetermined color, an auditory output providing a voice regarding whether a full color or a tolerance exists, and the like.

At this time, the management server 200 may control the output of the differential differential according to the determination of the parking plane 30 of the vehicle detection module 210. [ For example, when it is judged that the vehicle 40 is parked on all the parking faces 30, the full differential can output the full-time display, and there is a space available for parking the vehicle 40 among the parking faces 30 If judged, the pseudo-differential can output a tolerance indication. In addition, the pneumatic differential may be configured to individually indicate whether the vehicle 40 is parked on each parking surface 30.

<How to manage the parking lot for one person>

Hereinafter, a management method for a single multi-faced parking lot management system constructed as described above will be described in detail.

4 is a flowchart illustrating a method of managing a parking lot according to an embodiment of the present invention.

4, an omnidirectional camera 10 having a fish-eye lens captures an omnidirectional surveillance image (S10), and a sensing sensor (not shown) provided adjacent to a first parking surface, which is a part of the plurality of parking surfaces 30 15 senses the vehicle 40 positioned on the first parking plane and generates a sensing signal corresponding to the sensed result (S12).

Then, input data including the monitoring image and the sensing signal is transmitted through the cable 20 connected to the omnidirectional camera 10 and the sensing sensor 15 (S20), and the management server 200 connected to the cable 20 Receives the input data (S30).

As described above, since the omnidirectional camera 10 of the present invention is connected to one cable 20, parking guidance and security functions can be provided at a low cost.

Next, the vehicle detection module 210 of the management server 200 determines whether or not the vehicle 40 is parked on the plurality of parking faces 30 using the input data, and the security module 230 of the management server 200 And stores the supervisory image included in the input data in the memory 232 (S40).

Specifically, if it is assumed that the parking surface is difficult to judge by the sensing image among the plurality of parking surfaces 30 as the first parking surface, the vehicle detecting module 210 may detect the vehicle 1 on the first parking surface It is possible to judge whether or not the vehicle 40 is parked on the parking surface other than the first parking surface by using the monitoring image of the input data.

Since it is difficult to detect the vehicle 40 by the omnidirectional camera 10 on the first parking face, whether or not the vehicle 40 is parked on the first parking face is determined by the detection signal generated by the detection sensor 15 .

However, when the vehicle detection module 210 can determine whether or not the vehicle is parked with respect to a part of the first parking surface using the monitoring image, it can determine whether the vehicle 40 is parked by additionally using the monitoring image have.

For example, when the vehicle can be detected by the monitoring image according to the variation of the illuminance, the vehicle detection module 210 detects both the monitoring image by the omnidirectional camera 10 and the sensing signal by the sensing sensor 15 It is possible to determine whether or not the vehicle is parked.

At this time, it is not a problem if the judgment based on the monitoring image and the detection signal coincide with each other. However, if the judgment based on the monitoring image and the detection signal does not coincide, the monitoring image and the detection signal are received again after a predetermined time, The detection of the vehicle 40 can be performed more accurately.

4, the vehicle detection module 210 can basically determine whether or not the vehicle 40 is parked on a plurality of parking faces 30 using the monitoring image included in the input data , It is difficult to determine whether or not the vehicle 40 is parked with only the monitoring image, the sensing signal generated by the sensing sensor 15 is used.

Specifically, the vehicle detection module 210 first determines whether or not the vehicle 40 is parked on the plurality of parking faces 30 by using the monitoring image included in the input data. If the detection of the vehicle is not smoothly performed on the specific parking surface due to the influence of the surveillance image or the surrounding environment, the detection of the vehicle on the parking surface may be performed again by additionally using the monitoring signal of the input data.

5A to 5C show an embodiment of a vehicle detection process that can be applied to the present invention.

As shown in FIG. 5A, the area setting section 212 sets the area of the parking surface 30 that is the area where the vehicle 40 is parked on the monitored image. 5B, the location of the vehicle 40 can be photographed in the area of the parking plane set by the area setting unit 212. The feature vector is extracted as shown in FIG. 5C to determine whether the vehicle 40 corresponds to the vehicle 40 Can be determined.

Specifically, a feature vector may be extracted from the surveillance image using a vehicle recognition algorithm for recognizing the vehicle 40. As the vehicle recognition algorithm, any one of Scale-Invariant Feature Transform (SIFT), Speed Up Robust Features (SURF), Histogram of Oriented Gradients (HOG), Haar-like features and Gabor filter can be used.

Here, the SIFT algorithm is a typical algorithm for extracting a feature vector of an image, and has characteristics that are invariant to image rotation, scaling, movement, partial illumination change, and projective transform. The SIFT algorithm can extract attributes such as position, scale, and direction of a feature in consideration of the characteristics of the local image.

That is, the first step is to select the sample points (or candidate pixels) by searching the maximum and minimum (extrema) in the scale space generated by the DOG (Difference-Of-Gaussian) function (Scale-space extreme detection).

In the second step, keypoints are selected based on the stability value (Keypoint localization).

In the third step, one or more directions are assigned to each keypoint (Orientation assignment).

As a final step, a keypoint descriptor is created using local image gradients.

A detailed description of the SIFT algorithm is given in detail in the article " Distinctive image features from scale-invariant keypoints ".

In addition, the SURF algorithm is an algorithm that finds characteristics that are invariant to environmental changes by taking into account environment changes such as size, illumination, and viewpoint from multiple images. It is similar to the SIFT algorithm, which is generally known to have excellent performance, It is a greatly improved algorithm.

A detailed description of the SURF algorithm is given in detail in the " Robust Interest Point Detection and Descriptor "paper.

In addition, the HOG algorithm is based on the fact that the appearance and shape of a specific object in an image can be determined by the gradient magnitude or the distribution in the corner direction. The HOG algorithm divides an image into a plurality of regions called cells and can recognize a specific object by creating a histogram of a slope or a corner direction for each cell.

A detailed description of the HOG algorithm is given in detail in the article " Histograms of oriented gradients for human detection ".

In addition, the Haar-like features algorithm can recognize a specific object by using a prototype representing the characteristic information of the edge and a prototype representing the characteristic information of the line. A detailed description is given in the article "An Extended Set of Haar-like Features for Rapid Object Detection".

Further, a detailed description of the Gabor filter algorithm is given in detail in "Uncertainty relation for resolution in space, spatial frequency, and orientation optimized by two-dimensional visual cortical filters."

The feature vector extracted by the vehicle recognition algorithm can be compared with pre-stored learning data. Since the learning data includes a feature vector for a general vehicle image, it is possible to determine whether the object photographed in the parking area of the monitored image is a vehicle or not, and recognize the vehicle.

According to the parking lot management system of the present invention described above, it is possible to implement a parking guidance system with an amount equal to or less than that of the ultrasonic equipment, to easily secure ground data in case of an accident, to reduce malfunction caused by a cart or a person , It is unnecessary to construct a separate CCTV, it is possible to reduce cost by interworking with emergency bell or lighting control equipment, and can improve customer convenience by using dual-bay differential, and shorten construction period by simplifying wiring The vehicle can be detected, and the vehicle can be detected.

The present invention can also be embodied as computer-readable codes on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and may be implemented in the form of a carrier wave (for example, transmission via the Internet) . The computer readable recording medium may also be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers of the technical field to which the present invention belongs.

It should be understood that the above-described apparatus and method are not limited to the configuration and method of the embodiments described above, but the embodiments may be modified so that all or some of the embodiments are selectively combined .

10: Omnidirectional camera
15: Detection sensor
20: Cable
30: Parking side
40: vehicle
100: Parking lot
200: management server
210: vehicle management module
212: area setting unit
214:
216:
230: Security module
232: memory

Claims (9)

A system for managing a parking lot in which a plurality of parking surfaces are arranged in a plurality of rows,
An omnidirectional camera installed in the car park ceiling between two adjacent rows of the plurality of columns, the omnidirectional camera having a fish-eye lens to capture a monitor image in all directions;
And a control unit that is installed adjacent to a first parking surface, which is a part of the plurality of parking surfaces, detects a vehicle positioned on the first parking surface using ultrasonic waves, and detects a sensing signal corresponding to the sensing result Generating sensor;
A cable connected to the omnidirectional camera to transmit the monitoring image and connected to the sensing sensor to transmit the sensing signal;
A management server connected to the cable and receiving the monitoring video and the sensing signal; And
And a paved vehicle installed integrally with the omnidirectional camera and outputting a predetermined indication related to whether or not the vehicle is parked on the plurality of parking faces,
The management server includes:
A vehicle detection module for determining whether or not the vehicle is parked on the plurality of parking surfaces;
A security module having a memory for storing the monitoring image; And
And a display unit for outputting the surveillance image,
The vehicle detection module includes:
An area setting unit configured to set the area of the parking surface photographed on the surveillance image;
A feature detector for extracting a feature vector from an area of the parking plane set by the area setting unit using a vehicle recognition algorithm; And
And a detecting unit for determining whether the vehicle is parked in the area of the parking surface using the feature vector,
The management server controls the output of the differential differential according to the judgment of the vehicle detection module,
Wherein a part of the parking surface arranged in the first column and a part of the parking surface arranged in the second column are photographed in the monitoring image, and the first column and the second column are neighboring two columns provided with the omnidirectional camera,
The number of parking surfaces arranged in the first row photographed by the monitoring image is 5 to 7, the number of parking surfaces arranged in the second row photographed by the monitoring image is 5 to 7,
Wherein the first parking surface comprises a second parking surface disposed at a position where it is impossible to determine whether or not the parking detection of the vehicle detection module is possible according to a change in an environmental factor including a second parking surface and illuminance disposed in a shooting blind spot of the omni- Includes 3 parking lots,
The vehicle recognition algorithm may be one of Scale-Invariant Feature Transform (SIFT), Speeded Up Robust Features (SURF), Histogram of Oriented Gradients (HOG), Haar-
The vehicle detection module may use the detection signal to determine whether or not the vehicle is parked on the first parking surface and determine whether the vehicle is parked on a parking surface other than the first parking surface among the plurality of parking surfaces The surveillance image is used to judge whether or not the surveillance image
When it is determined that the vehicle detection module is able to determine whether the vehicle is parked on the third parking surface using the monitoring image according to the change of the environmental factor, the vehicle detection module additionally uses the monitoring image If it is determined that the vehicle is parked on the third parking surface, and if the result of the determination on the third parking surface based on the monitoring image does not match the determination result on the third parking surface based on the sensing signal, Wherein the sensing module re-determines whether or not the vehicle is parked on the third parking surface using the monitoring image and the sensing signal transmitted after a predetermined time elapses. delete delete delete delete delete delete delete delete

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