Vision-based vehicle positioning method and parking lot management system applying same

Abstract

The invention relates to a vision-based vehicle positioning method and a parking lot management system applying the same, and belongs to the field of informatization. The method comprises the following steps: (1) position calibration: establishing a three-dimensional world coordinate system and a parking space plane electronic map of a parking lot, performing position calibration on a unique identifier in the parking lot, and storing a three-dimensional world coordinate and a two-dimensional image plane coordinate of each parking space number; (2) image acquisition: acquiring environment information around the vehicle body by using a vehicle-mounted camera; (3) serial number identification: analyzing and processing acquired images to complete parking space serial number identification; and(4) position calculation: reading corresponding two-dimensional image coordinates and three-dimensional world coordinates according to the identified garage number, and obtaining the position of thecamera by utilizing an algorithm used by the camera so as to realize positioning. According to the invention, parking space management and empty parking space searching functions can be realized, andthe problem of slow recovery of vehicle ex-garage satellite signals is solved. The parking and vehicle taking experience of users can be better improved.

Description

technical field [0001] The invention belongs to the field of informatization, and relates to a vision-based vehicle positioning method and a parking lot management system applying the method. Background technique [0002] In the underground parking lot without GPS signal coverage, most car owners will lose their direction and look for parking spaces in circles. Existing parking lots often only provide the number of free parking spaces, which cannot allow car owners to find vacant parking spaces intuitively and conveniently, so they need to find parking spaces indoors. The vehicle positioning method in the environment is used to realize the parking space navigation function in the underground parking lot. [0003] Car positioning and navigation methods in underground parking lots can be divided into two categories. One is the method of transforming parking lots or cars: adding base stations or deploying location tags, such as based on UWB, Ibeacon, WIFI, millimeter wave radar...

AI Technical Summary

Problems solved by technology

These methods involve calculations at the software and algorithm levels, and there are problems such as high requirements for system performance and high power consumption.

[0005] In addition, the CN201710847934.2 garage vehicle positioning and navigation method based on image feature recognition, which is similar to the positioning method of the present invention, locates and navigates by identifying the number of the parking space. The number approximates the lane where the car is located in its vicinity. However, if the car can only see the number of the parking space in front of it at the current angle of view, this method will approximately think that the car is at the number of the parking space in front, which will lead to positioning errors, so this method is not accurate. Accurate; the second is that it does not introduce the identification method of the parking space number. It refers to the method of referring to the license plate recognition method for identification. The number has the problem of uncertain position and no unified format requirements for the logo, size, and direction. It is insufficient to directly apply the method of license plate recognition. It does not consider the characteristics of the parking space number, so there are deficiencies in the number recognition method

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