The invention provides a parking space identification method, electronic equipment and a medium, and the method comprises the steps: obtaining each key frame group in a video frame collected by a camera for each camera, and determining each first feature point corresponding to each key frame group and a second feature point corresponding to each first feature point for each key frame group; determining a camera pose of the camera according to the first feature points and the second feature points corresponding to the first feature points; sparse point clouds corresponding to the first feature points are determined according to the camera pose of the camera and the first feature points; according to each point cloud point in each sparse point cloud corresponding to each camera, determining three-dimensional Gaussian distribution, performing voxelization processing on the three-dimensional Gaussian distribution, and determining each voxel and an occupation value corresponding to each voxel; and determining a parking space detection frame corresponding to the key frame group according to the occupancy value of each voxel and a pre-trained three-dimensional point cloud parking space detection model, thereby realizing parking space identification in a three-dimensional space, and improving identification accuracy of a non-planar parking space.
本申请提供一种车位识别方法、电子设备及介质,该方法包括:针对每路相机,获取相机采集的视频帧中的各关键帧组,针对每各关键帧组,确定关键帧组对应的各第一特征点以及与各第一特征点对应的第二特征点;根据各第一特征点以及与各第一特征点对应的第二特征点,确定相机的相机位姿;根据相机的相机位姿以及各第一特征点,确定各第一特征点分别对应的稀疏点云;根据各路相机对应的各稀疏点云中各点云点,确定三维高斯分布,将三维高斯分布进行体素化处理,确定各体素以及各体素对应的占据值;根据各体素的占据值以及预先训练的三维点云车位检测模型中,确定关键帧组对应的车位检测框,以实现在三维空间中识别车位,提高非平面车位的识别准确度。
Parking space identification method, electronic equipment and medium
车位识别方法、电子设备及介质
2025-01-21
Patent
Electronic Resource
Chinese
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