The invention discloses an automatic parking system and method based on stereoscopic vision localization and mapping. The automatic parking system comprises an image acquisition module, an SLAM (Simultaneous Localization and Mapping) module and a route planning module, wherein the image acquisition module corrects an image acquired by a binocular camera calibrated in advance and obtains a disparity image, so that distance information between a vehicle and surrounding objects is obtained; scene-flow motion detection is realized through the matching of the image of a front frame and the image of a rear frame, so that dynamic points in the image are obtained; the SLAM module integrates acquired color images and obtained three-dimensional information, so that the position of the vehicle is located, and a map is established; the route planning module plans a route to find a parking position according to the established map; after the position of the vehicle and a target position are obtained, whether the space of the parking position is enough or not is judged, if parking conditions are met, an optimal parking track is planned to control the vehicle, so that automatic parking is realized. The automatic parking system is simple in operation process, easy to implement, low in cost and wide in application range.
Automatic parking system and method based on stereoscopic vision localization and mapping
2015-11-04
Patent
Electronic Resource
English
IPC: | B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |