The invention relates to a method and a system for constructing a parking space map. The method comprises the following steps: collecting parking space information through a visual sensor, wherein the parking space information comprises a parking space vertex and a parking space sideline vector extending from the parking space vertex; and constructing the parking space map using the collected parking space information, including: connecting two parking space vertexes based on the parking space sideline vector to generate an initial parking space map, where the parking space sideline vector extending from one of the two parking space vertexes points to the other of the two parking space vertexes; extracting all maximum connected sub-graphs from the initial parking space graph, wherein each maximum connected sub-graph comprises one or more parking spaces; and for each maximum connected sub-graph, fitting four side lines of each parking space in the maximum connected sub-graph through a straight line fitting algorithm, thereby constructing the parking space map.
本公开涉及一种用于构建车位地图的方法和系统。该方法包括:通过视觉传感器采集车位信息,所述车位信息包括车位顶点以及从车位顶点延伸出的车位边线矢量;以及使用所采集的车位信息来构建所述车位地图,包括:基于所述车位边线矢量来连接两个车位顶点以生成初始车位图,其中从这两个车位顶点中的一者延伸出的车位边线矢量指向这两个车位顶点中的另一者;从所述初始车位图提取所有极大连通子图,每一极大连通子图包括一个或多个车位;以及对于每一极大连通子图,通过直线拟合算法拟合出该极大连通子图中的每一车位的四条边线,由此构建出所述车位地图。
Method and system for constructing parking space map
用于构建车位地图的方法和系统
2024-04-02
Patent
Elektronische Ressource
Chinesisch
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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