Method and apparatus for recognizing parking slot by using bird's eye view and parking assist system using the same
First Claim
Patent Images
1. An apparatus for recognizing a parking slot by using a bird'"'"'s-eye view, the apparatus comprising:
- a camera for photographing a parking space at a vehicle and creating and transferring an input image;
a user interface unit for receiving an input of a seed point as a desired parking location in the parking space from a driver and transferring the seed point; and
a parking slot recognition unit for receiving the input image from the camera and the seed point from the user interface unit, converting the input image into the bird'"'"'s-eye view, estimating a number of marking line segments and a direction of the marking line segments by using a directional intensity gradient regarding a distance on the bird'"'"'s-eye view, recognizing the marking line segment closer to the camera as a guideline among at least one marking line segment intersecting with a direction of view from the camera to the seed point, and recognizing a number of separating line segments in a direction of the guideline so as to recognize the guideline and the separating line segments as the parking slot.
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Abstract
Disclosed are a method and an apparatus for recognizing a parking slot by using a bird'"'"'s-eye view and a parking assist system using the same.
64 Citations
12 Claims
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1. An apparatus for recognizing a parking slot by using a bird'"'"'s-eye view, the apparatus comprising:
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a camera for photographing a parking space at a vehicle and creating and transferring an input image; a user interface unit for receiving an input of a seed point as a desired parking location in the parking space from a driver and transferring the seed point; and a parking slot recognition unit for receiving the input image from the camera and the seed point from the user interface unit, converting the input image into the bird'"'"'s-eye view, estimating a number of marking line segments and a direction of the marking line segments by using a directional intensity gradient regarding a distance on the bird'"'"'s-eye view, recognizing the marking line segment closer to the camera as a guideline among at least one marking line segment intersecting with a direction of view from the camera to the seed point, and recognizing a number of separating line segments in a direction of the guideline so as to recognize the guideline and the separating line segments as the parking slot. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for recognizing a parking slot based on a bird'"'"'s-eye view by a parking slot recognition unit connected to a camera and a user interface unit to recognize the parking slot, the camera photographing a parking space at a vehicle and creating and transferring an input image, the user interface unit receiving an input of a seed point from a driver as a desired parking location in the parking space and transferring the seed point, the method comprising the steps of:
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(a) receiving the input image and the seed point and converting the input image into the bird'"'"'s-eye view; (b) estimating a number of marking line segments and a direction of the marking line segments by using a directional intensity gradient regarding a distance on the bird'"'"'s-eye view; (c) recognizing the marking line segment closer to the camera as a guideline among at least one marking line segment intersecting with a direction of view from the camera to the seed point; and (d) recognizing a number of separating line segments in a direction of the guideline so as to recognize the guideline and the separating line segments as the parking slot. - View Dependent Claims (9, 10, 11)
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12. A system for assisting parking of a vehicle by recognizing a parking slot based on a bird'"'"'s-eye view, the system comprising:
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a parking slot recognition unit having a camera and a user interface unit, the parking slot recognition unit receiving an input image from the camera and a seed point from the user interface unit, converting the input image into the bird'"'"'s-eye view, estimating a number of marking line segments and a direction of the marking line segments by using a directional intensity gradient regarding a distance on the bird'"'"'s-eye view, recognizing the marking line segment closer to the camera as a guideline among at least one marking line segment intersecting with a direction of view from the camera to the seed point, recognizing a number of separating line segments in a direction of the guideline so as to recognize the guideline and the separating line segments as the parking slot, and transferring a target parking slot; a detection unit having a number of sensors for recognizing a driving condition of the vehicle, the detection unit creating and transferring information regarding the driving condition of the vehicle; a parking assist control unit for estimating a location of the vehicle based on the information regarding the driving condition from the detection unit, receiving the target parking slot so as to create a path plan for parking the vehicle at the parking slot, and creating and transferring a control signal for parking the vehicle at the parking slot based on consideration of the location; and an active steering unit for steering the vehicle according to the control signal after receiving the control signal.
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Specification