The invention discloses an available parking space detection method and device, a terminal and a computer readable storage medium. The available parking space detection method comprises the steps of obtaining a panoramic image, a panoramic image and laser radar point cloud data at a current moment; fusing the panoramic image, the panoramic image and the laser radar point cloud data based on a BEV model to obtain a drivable area and a detection target in the parking lot; acquiring a panoramic looking-around system image, and analyzing the panoramic looking-around system image based on a parking space model to obtain a parking space corner point and a parking space center point; and according to the driving area in the parking lot, the detection target, the parking space corner point and the parking space center point, utilizing a parking model to carry out parking attribute analysis on the parking space in the driving area, and outputting the parking attribute corresponding to each parking space. According to the invention, the available parking space is detected in a model fusion mode, and the scene coverage rate in a complex parking lot environment and the detection precision of the available parking space are improved.

    本发明公开了可泊入车位检测方法、装置、终端及计算机可读存储介质,包括:获取当前时刻的周视图像、环视图像以及激光雷达点云数据;基于BEV模型对所述周视图像、所述环视图像以及所述激光雷达点云数据进行融合,得到停车场内可行驶区域以及检测目标;获取全景环视系统图像,并基于车位模型对所述全景环视系统图像进行分析,得到车位角点和车位中心点;根据所述停车场内可行驶区域、所述检测目标、车位角点以及车位中心点,利用可泊入模型对可行驶区域内的车位进行可泊入属性分析,输出各车位对应的可泊入属性。本发明通过模型融合的方式对可泊入车位进行检测,提高了在复杂的停车场环境下的场景覆盖率以及可泊入车位的检测精度。


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    Titel :

    Parking space detection method and device, terminal and computer readable storage medium


    Weitere Titelangaben:

    可泊入车位检测方法、装置、终端及计算机可读存储介质


    Beteiligte:
    CHENG HONGKUAN (Autor:in)

    Erscheinungsdatum :

    22.11.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06V



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