Sensor Fusion-Based Vacant Parking Slot Detection and Tracking
SKU: 010610
This paper proposes a vacant parking slot detection
and tracking system that fuses the sensors of an Around View
Monitor (AVM) system and an ultrasonic sensor-based automatic
parking system. The proposed system consists of three stages:
parking slot marking detection, parking slot occupancy classifica-
tion, and parking slot marking tracking. The parking slot marking
detection stage recognizes various types of parking slot markings
using AVM image sequences. It detects parking slots in individual
AVM images by exploiting a hierarchical tree structure of park-
ing slot markings and combines sequential detection results. The
parking slot occupancy classification stage identifies vacancies of
detected parking slots using ultrasonic sensor data. Parking slot
occupancy is probabilistically calculated by treating each parking
slot region as a single cell of the occupancy grid. The parking
slot marking tracking stage continuously estimates the position of
the selected parking slot while the ego-vehicle is moving into it.
During tracking, AVM images and motion sensor-based odometry
are fused together in the chamfer score level to achieve robustness
against inevitable occlusions caused by the ego-vehicle. In the
experiments, it is shown that the proposed method can recognize
the positions and occupancies of various types of parking slot
markings and stably track them under practical situations in
a real-time manner. The proposed system is expected to help
drivers conveniently select one of the available parking slots and
support the parking control system by continuously updating the
designated target positions.