Automatic free parking space detection by using motion stereo-based 3D reconstruction
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- 作者：Jae Kyu Suhr ; Ho Gi Jung ; Kwanghyuk Bae and Jaihie Kim
- 关键词：Parking space detection ; Motion stereo ; Three ; dimensional reconstruction ; Three ; dimensional mosaicing
- 刊名：Machine Vision and Applications
- 出版时间：February, 2010
- 出版年：2010
- 期刊代码：103_0932-8092
- 类别：cp
- 卷：21
- 期：2
- 页码：163-176
- 数据来源：sp
摘要
This paper proposes a free parking space detection system by using motion stereo-based 3D reconstruction. An image sequence is acquired with a single rearview fisheye camera and the view behind the automobile is three-dimensionally reconstructed by using point correspondences. Metric information is recovered from the camera height ratio and free parking spaces are detected by estimating the positions of adjacent vehicles. Since adjacent vehicles are usually located near the epipole, their structures are seriously degraded. To solve this problem, we select point correspondences by using a de-rotation-based method and mosaic 3D structures by estimating a similarity transformation. Unlike in previous work, our system proposes an efficient way of locating free parking spaces in 3D point clouds. Odometry is not used because its accuracy depends largely on road conditions. In the experiments, the system was tested in 154 different parking situations and its success rate was 90%(139 successes in 154 cases). The detection accuracy was evaluated by using ground truth data that was acquired with a laser scanner.