Parking Space and Obstacle Detection Based on a Vision Sensor and Checkerboard Grid Laser
Abstract
:1. Introduction
2. System Structure and Principle
2.1. Realization of Checkerboard Laser Grid
2.2. Image Acquisition
Camera Calibration
3. Image Preprocessing
3.1. Grayscale Processing
3.2. Smoothing and Denoising of Images
Mean Filtering
3.3. Image Enhancement Technology
Gamma Transform
3.4. Image Binarization
4. Feature Extraction and Recognition of Obstacles
4.1. Contour Detection
4.2. Convex Hull Detection
4.3. Division of Obstacle Areas
4.4. Parking Space Identification
5. Experiments
6. Conclusions and Future Research
Author Contributions
Funding
Conflicts of Interest
References
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Parking Modes | Parking Lines | Vehicles Around |
---|---|---|
Vertical parking | Standard parking lines | One side |
Parallel parking | Only parking angles | Both sides |
Oblique parking | No parking line | None |
Model Types | Regular | Irregular | Similar to the Ground Color |
---|---|---|---|
Vehicle | - | - | |
Wall/Pillar | - | ||
Parking lock | - | - | |
Stone | |||
Pothole |
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Ma, S.; Jiang, Z.; Jiang, H.; Han, M.; Li, C. Parking Space and Obstacle Detection Based on a Vision Sensor and Checkerboard Grid Laser. Appl. Sci. 2020, 10, 2582. https://doi.org/10.3390/app10072582
Ma S, Jiang Z, Jiang H, Han M, Li C. Parking Space and Obstacle Detection Based on a Vision Sensor and Checkerboard Grid Laser. Applied Sciences. 2020; 10(7):2582. https://doi.org/10.3390/app10072582
Chicago/Turabian StyleMa, Shidian, Zhongxu Jiang, Haobin Jiang, Mu Han, and Chenxu Li. 2020. "Parking Space and Obstacle Detection Based on a Vision Sensor and Checkerboard Grid Laser" Applied Sciences 10, no. 7: 2582. https://doi.org/10.3390/app10072582
APA StyleMa, S., Jiang, Z., Jiang, H., Han, M., & Li, C. (2020). Parking Space and Obstacle Detection Based on a Vision Sensor and Checkerboard Grid Laser. Applied Sciences, 10(7), 2582. https://doi.org/10.3390/app10072582