International Journal of Automotive Technology

The Korean Society of Automotive Engineers (한국자동차공학회)
권호 표지

3D VISION SYSTEM FOR THE RECOGNITION OF FREE PARKING SITE LOCATION

  • Jung, H.G. (Mando Central R&D Center) ;
  • Kim, D.S. (Mando Central R&D Center) ;
  • Yoon, P.J. (Mando Central R&D Center) ;
  • Kim, J.H. (School of Electrical and Electronic Engineering, Yonsei University)
  • Published : 2006.05.15
Download PDF
⟨ Previous Next ⟩

Abstract

This paper describes a novel stereo vision based localization of free parking site, which recognizes the target position of automatic parking system. Pixel structure classification and feature based stereo matching extract the 3D information of parking site in real time. The pixel structure represents intensity configuration around a pixel and the feature based stereo matching uses step-by-step investigation strategy to reduce computational load. This paper considers only parking site divided by marking, which is generally drawn according to relevant standards. Parking site marking is separated by plane surface constraint and is transformed into bird's eye view, on which template matching is performed to determine the location of parking site. Obstacle depth map, which is generated from the disparity of adjacent vehicles, can be used as the guideline of template matching by limiting search range and orientation. Proposed method using both the obstacle depth map and the bird's eye view of parking site marking increases operation speed and robustness to visual noise by effectively limiting search range.

Keywords

References

  1. Fintzel, K., Bendahan, R., Vestri, C., Bougnoux, S., Yamamoto, S. and Kakinami, T. (2003). 3D vision system for vehicles. Proc. IEEE Intelligent Vehicle Symp., 174−179
  2. Frank, R. (2004). Sensing in the ultimately safe vehicle. SAE Paper No. 2004-21-0055
  3. Franke, U. and Joos, A. (2000). Real-time stereo vision for urban traffic scene understanding. Proc. IEEE Intelligent Vehicle Symp., 273−278
  4. Franke, U. and Kutzbach, I. (1996). Fast stereo based object detection for stop&go traffic. Proc. IEEE Intelligent Vehicle Symp., 339−344
  5. Furutani, M. (2004). Obstacle detection systems for vehicle safety. SAE Paper No. 2004-21-0057
  6. Gavrila, D. M., Franke, U., Woehler, C. and Goerzig, S. (2001). Real-time vision for intelligent vehicles. IEEE Instrumentation & Measurement Magazine 4, 2, 22-27 https://doi.org/10.1109/5289.930982
  7. Hiramatsu, S., Hibi, A., Tanake, Y., Kakinami, T., Iwata, Y. and Nakamura, M. (2002). Rearview camera based parking assist system with voice guidance. SAE Paper No. 2002-01-0759
  8. Kaempchen, N., Franke, U. and Ott, R. (2002). Stereo vision based pose estimation of parking lots using 3D vehicle models. Proc. IEEE Intelligent Vehicle Sysmp., 459−464
  9. Point Grey Research (2005). Point Grey Research's Homepage, http://www.ptgrey.com
  10. Wada, M., Yoon, K. S., Hashimoto, H. (2003). Development of advanced parking assistance system. IEEE Trans. Industrial Electronics 50, 1, 4−17 https://doi.org/10.1109/TIE.2002.807690
  11. Xu, J., Chen, G. and Xie, M. (2000). Vision-guided automatic parking for smart car. Proc. IEEE Intelligent Vehicle Symp., 725−730