Title:
METHOD AND SYSTEM FOR EXTRACTING PARKING SPACE IN UNDERGROUND PARKING LOT IN HIGH-PRECISION MAP MAKING
Document Type and Number:
WIPO Patent Application WO/2020/048152
Kind Code:
A1
Abstract:
A method and a system for extracting a parking space in an underground parking lot in the process of making a high-precision map, the method comprising: acquiring three-dimensional laser point cloud data comprising a parking space, and projecting the three-dimensional laser point cloud data to form a two-dimensional bird's-eye view mode image (S1); determining a contrast estimation indicator of the two-dimensional bird's-eye view mode image, performing image pre-processing on the two-dimensional bird's-eye view mode image according to the contrast estimation indicator, and obtaining a binary image (S2); detecting straight line segments in the binary image, and determining a parking line rotation angle of the parking space according to a detection result (S3); rotating, using a center point of the binary image as a circle center, the binary image according to the parking line rotation angle so as to obtain a rotated image (S4); calculating the number of pixels in a parking line for each row and each column in the rotated image, and obtaining respective integral projections in a horizontal direction and a vertical direction (S5); performing a search according to the integral projections in the horizontal direction and the vertical direction so as to obtain coordinates of four corner points corresponding to the parking space (S6); and performing inverse transformation with respect to the point cloud data according to the coordinates of the four corner points to extract the parking space (S7).
Inventors:
ZHANG CHENG (CN)
LI YEWEI (CN)
LUO YUEJUN (CN)
LI YEWEI (CN)
LUO YUEJUN (CN)
Application Number:
PCT/CN2019/086895
Publication Date:
March 12, 2020
Filing Date:
May 14, 2019
Export Citation:
Assignee:
WUHHAN KOTEL BIG DATE CORP (CN)
International Classes:
G09B29/00; G06V10/28; G06V10/44; G06V20/13
Domestic Patent References:
| WO2010042466A1 | 2010-04-15 |
Foreign References:
| CN109243289A | 2019-01-18 | |||
| CN108281041A | 2018-07-13 | |||
| CN101807352A | 2010-08-18 | |||
| CN105355083A | 2016-02-24 | |||
| US8537338B1 | 2013-09-17 |
Other References:
WANG. SONG ET AL: "Comparison and Discussion of Measurement Method About the Underground Parking Spaces", URBAN GEOTECHNICAL INVESTIGATION & SURVEYING, no. 6, 31 December 2015 (2015-12-31), pages 109 - 112, ISSN: 1672-8262
Attorney, Agent or Firm:
CHINA PAT INTELLECTUAL PROPERTY OFFICE (CN)
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