Vacant Parking Slot Recognition Method for Practical Autonomous Valet Parking System Using around View Image
The parking assist system (PAS) provides information of parking slots around the vehicle. As the demand for an autonomous system is increasing, intelligent PAS has been developed to park the vehicle without the driver’s intervention. To locate parking slots, most existing methods detect slot marking...
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2020-10-01
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doaj-d73a626d088e41048e5d0688469094a92020-11-25T04:02:19ZengMDPI AGSymmetry2073-89942020-10-01121725172510.3390/sym12101725Vacant Parking Slot Recognition Method for Practical Autonomous Valet Parking System Using around View ImageSeunghyun Kim0Joongsik Kim1Moonsoo Ra2Whoi-Yul Kim3Department of Electronics and Computer Engineering, Hanyang University, Seoul 04763, KoreaDepartment of Electronics and Computer Engineering, Hanyang University, Seoul 04763, KoreaLightVision Inc., Seoul 04793, KoreaDepartment of Electronics and Computer Engineering, Hanyang University, Seoul 04763, KoreaThe parking assist system (PAS) provides information of parking slots around the vehicle. As the demand for an autonomous system is increasing, intelligent PAS has been developed to park the vehicle without the driver’s intervention. To locate parking slots, most existing methods detect slot markings on the ground using an around-view monitoring (AVM) image. There are many types of parking slots of different shapes in the real world. Due to this fact, these methods either limit their target types or use predefined slot information of different types to cover the types. However, the approach using predefined slot information cannot handle more complex cases where the slot markings are connected to other line markings and the angle between slot marking is slightly different from the predefined settings. To overcome this problem, we propose a method to detect parking slots of various shapes without predefined type information. The proposed method is the first to introduce a free junction type feature to represent the structure of parking slot junction. Since the parking slot has a modular or repeated junction pattern at both sides, junction pair consisting of one parking slot can be detected using the free junction type feature. In this process, the geometrically symmetric characteristic of the junction pair is crucial to find each junction pair. The entrance of parking slot is reconstructed according to the structure of junction pair. Then, the vacancy of the parking slot is determined by a support vector machine. The Kalman tracker is applied for each detected parking slot to ensure stability of the detection in consecutive frames. We evaluate the performance of the proposed method by using manually collected datasets, captured in different parking environments. The experimental results show that the proposed method successfully detects various types of parking slots without predefined slot type information in different environments.https://www.mdpi.com/2073-8994/12/10/1725parking slot detectionparking assist systemparking slot junctionparking slot feature |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Seunghyun Kim Joongsik Kim Moonsoo Ra Whoi-Yul Kim |
spellingShingle |
Seunghyun Kim Joongsik Kim Moonsoo Ra Whoi-Yul Kim Vacant Parking Slot Recognition Method for Practical Autonomous Valet Parking System Using around View Image Symmetry parking slot detection parking assist system parking slot junction parking slot feature |
author_facet |
Seunghyun Kim Joongsik Kim Moonsoo Ra Whoi-Yul Kim |
author_sort |
Seunghyun Kim |
title |
Vacant Parking Slot Recognition Method for Practical Autonomous Valet Parking System Using around View Image |
title_short |
Vacant Parking Slot Recognition Method for Practical Autonomous Valet Parking System Using around View Image |
title_full |
Vacant Parking Slot Recognition Method for Practical Autonomous Valet Parking System Using around View Image |
title_fullStr |
Vacant Parking Slot Recognition Method for Practical Autonomous Valet Parking System Using around View Image |
title_full_unstemmed |
Vacant Parking Slot Recognition Method for Practical Autonomous Valet Parking System Using around View Image |
title_sort |
vacant parking slot recognition method for practical autonomous valet parking system using around view image |
publisher |
MDPI AG |
series |
Symmetry |
issn |
2073-8994 |
publishDate |
2020-10-01 |
description |
The parking assist system (PAS) provides information of parking slots around the vehicle. As the demand for an autonomous system is increasing, intelligent PAS has been developed to park the vehicle without the driver’s intervention. To locate parking slots, most existing methods detect slot markings on the ground using an around-view monitoring (AVM) image. There are many types of parking slots of different shapes in the real world. Due to this fact, these methods either limit their target types or use predefined slot information of different types to cover the types. However, the approach using predefined slot information cannot handle more complex cases where the slot markings are connected to other line markings and the angle between slot marking is slightly different from the predefined settings. To overcome this problem, we propose a method to detect parking slots of various shapes without predefined type information. The proposed method is the first to introduce a free junction type feature to represent the structure of parking slot junction. Since the parking slot has a modular or repeated junction pattern at both sides, junction pair consisting of one parking slot can be detected using the free junction type feature. In this process, the geometrically symmetric characteristic of the junction pair is crucial to find each junction pair. The entrance of parking slot is reconstructed according to the structure of junction pair. Then, the vacancy of the parking slot is determined by a support vector machine. The Kalman tracker is applied for each detected parking slot to ensure stability of the detection in consecutive frames. We evaluate the performance of the proposed method by using manually collected datasets, captured in different parking environments. The experimental results show that the proposed method successfully detects various types of parking slots without predefined slot type information in different environments. |
topic |
parking slot detection parking assist system parking slot junction parking slot feature |
url |
https://www.mdpi.com/2073-8994/12/10/1725 |
work_keys_str_mv |
AT seunghyunkim vacantparkingslotrecognitionmethodforpracticalautonomousvaletparkingsystemusingaroundviewimage AT joongsikkim vacantparkingslotrecognitionmethodforpracticalautonomousvaletparkingsystemusingaroundviewimage AT moonsoora vacantparkingslotrecognitionmethodforpracticalautonomousvaletparkingsystemusingaroundviewimage AT whoiyulkim vacantparkingslotrecognitionmethodforpracticalautonomousvaletparkingsystemusingaroundviewimage |
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