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, the authors select point correspondences by using a de-rotation-based method and mosaic 3D structures by estimating a similarity transformation. Unlike in previous work, their 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. This paper is organized as follows. In section 2, they discuss the point correspondences and 3D reconstruction. In section 3, they explain the problem of the epipole and offer a solution. In sectioon 4, they describe metric recovery and the free parking space detection. In section 5, they present the experimental results including a comparison with the laser scanner data. Finally, in section 6, they conclude the paper with a summary and some suggestions for future work.
Automatic free parking space detection by using motion stereo-based 3D reconstruction
Automatische Erkennung freier Parkplätze mit Hilfe motion-stereo-basierter 3D-Rekonstruktion
Machine Vision and Applications ; 21 , 2 ; 163-176
2010
14 Seiten, 16 Bilder, 42 Quellen
Aufsatz (Zeitschrift)
Englisch
Automatic free parking space detection by using motion stereo-based 3D reconstruction
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