The invention provides a method for detecting an idle parking space, which is applied to an intelligent parking system and comprises the following steps: acquiring continuous N frames of depth images about the parking space from an image acquisition unit; for a kth frame of depth 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: the pixel depth of each pixel point in the region of interest in the kth frame of depth image is compared with a preset maximum value and a preset minimum value; generating an original binary image corresponding to the kth frame of depth image according to a comparison result; performing AND operation on the original binary image of the kth frame of depth image and the original binary image of the (k-m) th frame of depth image to generate a de-noised binary image; counting the number of pixels of which the pixel values are effective values in the de-noised binary image; when the number of the pixels with the effective value is larger than a threshold value, the parking space state is updated to be a vehicle-available state; when the number of the pixels with the effective value is smaller than or equal to the threshold value, the parking space state is updated to be the idle state, and the idle parking space state is detected.

    本发明提供一种检测空闲停车位的方法,应用于智能停车系统,包括:从图像采集单元获取连续N帧关于停车位的深度图像;针对N帧深度图像包含的第k帧深度图像,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:将第k帧深度图像中感兴趣区域内各像素点的像素深度分别与预设最大值和预设最小值比较;根据比较的结果生成第k帧深度图像对应的原始二值图;将第k帧深度图像的原始二值图与第k‑m帧原始二值图做相与操作,生成去噪二值图;统计去噪二值图中像素值为有效值的像素点数;当为有效值的像素点数大于阈值后,更新停车位状态为有车状态;当为有效值的像素点数小于或等于阈值后,更新停车位状态为空闲状态,用于检测空闲停车位状态。


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    Title :

    Method, device and equipment for detecting free parking space and medium


    Additional title:

    一种检测空闲停车位的方法、装置、设备和介质


    Contributors:
    YIN RUI (author) / ZHU BAO (author) / SHEN XIAOLIANG (author) / ZHANG WEI (author) / DENG LEI (author) / WANG DONGXIAN (author) / XI JINGJING (author)

    Publication date :

    2024-01-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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