Title:
GARAGE SPACE TRACKING METHOD AND APPARATUS
Document Type and Number:
WIPO Patent Application WO/2022/096027
Kind Code:
A1
Abstract:
A garage space tracking method and an apparatus, the method comprising: obtaining a panoramic bird's eye view image of a vehicle at different times; and for a first panoramic bird's eye view image at a current time, determining a tracking region of a garage space corner point in a second panoramic bird's eye view image closest to the current time; on the basis of an optical flow tracking method, tracking the garage space corner point in a target image region of the first panoramic bird's eye view image to obtain a visual tracking result for the garage space corner point, the target image region being the one image region layer having the smallest area, and in which the garage space corner point can be detected in the corresponding region in the first panoramic bird's eye view image; and obtaining a wheel speed tracking result of the garage space corner point, and obtaining an actual tracking result by means of processing the visual tracking result and the wheel speed tracking result of the garage space corner point. In the present invention, a visual detection method is used to localize in real time a garage space that has been locked in a vehicle parking process, thus correcting the issue of accumulated calculation errors involved in wheel speed tracking, and greatly improving the probability of parking correctly the first time and stopping in the center of the space, thus improving user experience.
Inventors:
GU JINGXIAO (CN)
HUO LU (CN)
ZHANG LIYANG (CN)
WANG XI (CN)
SONG JIANMING (CN)
HUO LU (CN)
ZHANG LIYANG (CN)
WANG XI (CN)
SONG JIANMING (CN)
Application Number:
PCT/CN2021/139527
Publication Date:
May 12, 2022
Filing Date:
December 20, 2021
Export Citation:
Assignee:
TIANJIN TIAN TONG WEI SHI ELECTRONICS LTD (CN)
International Classes:
G06T7/246; B60R1/00; G06K9/00
Foreign References:
| CN112037265A | 2020-12-04 | |||
| CN105374049A | 2016-03-02 | |||
| CN111508260A | 2020-08-07 | |||
| CN109443348A | 2019-03-08 | |||
| CN111016918A | 2020-04-17 | |||
| US20200042805A1 | 2020-02-06 |
Other References:
WANG, PENGFEI: " Research on Parking Slot Detection Technology Based on Panoramic Around View System", SCIENCE & ENGINEERING (B), CHINA MASTER’S THESES FULL-TEXT DATABASE, 1 December 2018 (2018-12-01), pages 1 - 80, XP055929074, [retrieved on 20220608]
Attorney, Agent or Firm:
UNITALEN ATTORNEYS AT LAW (CN)
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