Machine Vision and Applications Automatic Free Parking Space Detection by Using Motion Stereo-based 3d Reconstruction
Machine Vision and Applications Automatic Free Parking Space Detection by Using Motion Stereo-based 3d Reconstruction
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通讯作者：
Jae Kyu;Suhr Ho;Gi Jung;K. Bae;Jaihie Kim;J. Suhr;H G Jung;K Bae;J Kim;K. Bae;H. G. J. Global;R&d H Q
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作者：
Jae Kyu;Suhr Ho;Gi Jung;K. Bae;Jaihie Kim;J. Suhr;H G Jung;K Bae;J Kim;K. Bae;H. G. J. Global;R&d H Q
本文提出了一种基于运动立体三维重建的自由车位检测系统。利用单个后视鱼眼摄像头获取图像序列，利用点对应对汽车后方进行三维重构。从摄像机高度比中恢复度量信息，并通过估计相邻车辆的位置来检测空闲停车位。由于相邻车辆通常位于极点附近，其结构严重退化。为了解决这一问题，我们使用基于去旋转的方法选择点对应，并通过估计相似变换来拼接三维结构。与之前的工作不同，我们的系统提出了一种在3D点云中定位空闲停车位的有效方法。没有使用里程计，因为它的准确性在很大程度上取决于路况。在实验中，该系统在154种不同的停车情况下进行了测试，其成功率为90%（154例中有139例成功）。利用激光扫描仪获取的地面真值数据对探测精度进行了评价。
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.