The invention provides a parking space determination method and device, a vehicle and a storage medium. The method comprises the steps of obtaining point cloud data and image data collected by a target vehicle; determining at least one parking space candidate frame from the image data, and selecting ground point cloud from the point cloud data; performing feature fusion on the image data corresponding to each parking space candidate frame and the corresponding ground point cloud to obtain a fused parking space feature corresponding to each parking space candidate frame, and determining a target parking space candidate frame based on the fused parking space feature; through adoption of the parking space determination method provided by the invention, feature fusion is performed on the point cloud data and the image data, so that the ground point cloud and the image data complement each other, the robustness of fused parking space features is improved, the influence of environment, data noise, deformation and the like on the fused parking space features is reduced, and the accuracy of parking space detection is improved; meanwhile, by selecting the ground point cloud, the data processing amount is greatly reduced, and the parking space detection efficiency is improved.
本申请提供一种车位确定方法、装置、车辆及存储介质,方法通过获取目标车辆采集的点云数据和图像数据;从图像数据中确定至少一个车位候选框,从点云数据中选取地面点云;将每个车位候选框对应的图像数据和对应的地面点云进行特征融合,得到每个车位候选框对应的融合车位特征,基于融合车位特征确定目标车位候选框;通过采用本申请提供的车位确定方法,将点云数据和图像数据进行特征融合,使得地面点云与图像数据之间进行相互补充,提高了融合车位特征的鲁棒性,降低了环境、数据噪声、变形等对融合车位特征的影响,提高了车位检测的准确性;同时,通过选取地面点云,极大的减少了数据处理量,提高了车位检测的效率。
Parking space determination method and device, vehicle and storage medium
车位确定方法、装置、车辆及存储介质
2024-01-09
Patent
Electronic Resource
Chinese
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