The invention provides a method, device and equipment for detecting an idle parking space and a medium, the method is applied to an intelligent parking system, and the method comprises the following steps: obtaining continuous N frames of image groups about the parking space from an image acquisition unit, each frame of image group comprising a depth image and a grayscale image; for a kth frame of image included in the N frames of depth images, the kth frame of depth image is any one frame in the N frames of depth images, and the following processing is executed: obtaining image data of the depth images in the region of interest, and generating a detection plane; calculating a detection centroid and a detection normal vector according to the detection plane; calculating a centroid distance according to the reference centroid and the detection centroid; calculating a normal vector included angle according to the reference normal vector and the detection normal vector; when the centroid distance does not exceed the threshold distance range and the normal vector included angle does not exceed the threshold included angle range, determining that the parking space state of the depth image is an idle state; and otherwise, determining that the parking space state of the depth image is a vehicle state. The method is used for detecting the idle parking space state.
本发明提供了一种检测空闲停车位的方法、装置、设备和介质,方法应用于智能停车系统,包括:从图像采集单元获取连续N帧关于停车位的图像组,每一帧图像组均包括深度图像和灰度图像;针对N帧深度图像包含的第k帧图像,第k帧深度图像为N帧深度图像中的任意一帧,执行如下处理:获取深度图像在感兴趣区域内的图像数据,生成探测平面;根据探测平面计算探测质心和探测法向量;根据参考质心和探测质心计算质心距离;根据参考法向量和探测法向量计算法向量夹角;当质心距离不超出阈值距离范围且法向量夹角不超出阈值夹角范围时,确认深度图像的车位状态为空闲状态;否则确认深度图像的车位状态为有车状态。该方法用于检测空闲停车位状态。
Method, device and equipment for detecting free parking space and medium
一种检测空闲停车位的方法、装置、设备和介质
2024-01-26
Patent
Electronic Resource
Chinese
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