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A Universal Vacant Parking Slot Recognition System Using Sensors Mounted on Off-the-Shelf Vehicles.
1School of Intelligent Mechatronics Engineering, Sejong University, 209 Neungdong-ro, Gwangjin-gu, Seoul 05006, Korea. jksuhr@sejong.ac.kr.
Sensors (Basel, Switzerland)
|April 17, 2018
Summary
This study presents a new method for automatic parking systems to detect vacant parking spaces under various lighting conditions. The system uses existing vehicle sensors, achieving high precision and recall for reliable parking slot recognition.
Area of Science:
- Computer Vision
- Robotics
- Automotive Engineering
Background:
- Automatic parking systems are crucial for autonomous driving, requiring accurate vacant parking space recognition.
- Existing methods often struggle with diverse lighting conditions (day, night, underground) and rely on specialized sensors.
Purpose of the Study:
- To propose a commercializable method for recognizing various parking slot markings in diverse lighting conditions.
- To utilize only sensors commonly found in off-the-shelf vehicles: Around-View Monitor (AVM), ultrasonic, and motion sensors.
Main Methods:
- Detecting separating lines by extracting parallel line pairs from AVM images.
- Generating parking slot candidates using geometric constraints and confirming them via entrance position recognition (line/corner features) and occupancy classification (ultrasonic sensors).
- Enhancing reliability by tracking parking slot features across frames using vehicle odometry.
Main Results:
- The proposed method demonstrated high performance in quantitative evaluations across day, night, and underground datasets.
- Achieved a recall of 95.24% and a precision of 97.64%, outperforming previous methods.
Conclusions:
- The developed method effectively recognizes parking spaces in challenging lighting conditions using standard vehicle sensors.
- The system's high accuracy and reliance on existing hardware make it suitable for commercialization in autonomous driving.
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