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MX373521B - Método y dispositivo de detección de línea del espacio de estacionamiento. - Google Patents

Método y dispositivo de detección de línea del espacio de estacionamiento.

Info

Publication number
MX373521B
MX373521B MX2018004708A MX2018004708A MX373521B MX 373521 B MX373521 B MX 373521B MX 2018004708 A MX2018004708 A MX 2018004708A MX 2018004708 A MX2018004708 A MX 2018004708A MX 373521 B MX373521 B MX 373521B
Authority
MX
Mexico
Prior art keywords
lines
threshold value
value range
parking space
space lines
Prior art date
Application number
MX2018004708A
Other languages
English (en)
Other versions
MX2018004708A (es
Inventor
Yasuhisa Hayakawa
Original Assignee
Nissan Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Publication of MX2018004708A publication Critical patent/MX2018004708A/es
Publication of MX373521B publication Critical patent/MX373521B/es

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/11—Region-based segmentation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/12—Edge-based segmentation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/136—Segmentation; Edge detection involving thresholding
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30256—Lane; Road marking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30264—Parking

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Geometry (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Se proporciona un método de detección de una línea de marco de un espacio (PLn, PRn) de estacionamiento a partir de una imagen capturada adquirida por una cámara (1). El método incluye detectar la línea de marco cuando el valor de un parámetro utilizado para la detección de la línea de marco cae dentro de un primer rango de umbral, estimar la posición de una línea de marco no detectada con base en la posición de la línea de marco detectada, y establecer un rango de umbral utilizado para detectar la línea de marco en la posición estimada de la línea de marco a un segundo rango de umbral más ancho que el primer rango de umbral.
MX2018004708A 2015-10-22 2018-04-17 Método y dispositivo de detección de línea del espacio de estacionamiento. MX373521B (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/079893 WO2017068699A1 (ja) 2015-10-22 2015-10-22 駐車スペースの枠線の検出方法および装置

Publications (2)

Publication Number Publication Date
MX2018004708A MX2018004708A (es) 2018-06-18
MX373521B true MX373521B (es) 2025-03-04

Family

ID=58556864

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2018004708A MX373521B (es) 2015-10-22 2018-04-17 Método y dispositivo de detección de línea del espacio de estacionamiento.

Country Status (11)

Country Link
US (1) US10810446B2 (es)
EP (1) EP3367336B1 (es)
JP (1) JP6562081B2 (es)
KR (1) KR102073496B1 (es)
CN (1) CN108351958B (es)
BR (1) BR112018008270B1 (es)
CA (1) CA3002639C (es)
MX (1) MX373521B (es)
MY (1) MY188579A (es)
RU (1) RU2691498C1 (es)
WO (1) WO2017068699A1 (es)

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Also Published As

Publication number Publication date
JPWO2017068699A1 (ja) 2018-09-13
US20180307919A1 (en) 2018-10-25
CN108351958B (zh) 2022-03-25
RU2691498C1 (ru) 2019-06-14
US10810446B2 (en) 2020-10-20
WO2017068699A1 (ja) 2017-04-27
CN108351958A (zh) 2018-07-31
KR20180069855A (ko) 2018-06-25
EP3367336B1 (en) 2019-12-04
MX2018004708A (es) 2018-06-18
BR112018008270B1 (pt) 2023-03-21
BR112018008270A2 (pt) 2018-10-23
CA3002639A1 (en) 2017-04-27
KR102073496B1 (ko) 2020-02-04
MY188579A (en) 2021-12-22
CA3002639C (en) 2021-07-06
JP6562081B2 (ja) 2019-08-21
BR112018008270A8 (pt) 2023-01-31
EP3367336A1 (en) 2018-08-29
EP3367336A4 (en) 2018-12-26

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