Apparatus and method for matching parking-lot outline

• US 9,117,122 B2
• Filed: 10/01/2013
• Issued: 08/25/2015
• Est. Priority Date: 06/04/2013
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group), Industry-University Cooperation Foundation Hanyang University, Kia Motors Corporation (Kia Corp.)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group), Industry-University Cooperation Foundation Hanyang University, Kia Motors Corporation (Kia Corp.)
• Inventors: Choi, Jae Seob, Ryu, Seong Sook, Yoon, Dae Joong, Chang, Eu Gene, Jung, Ho Gi, Suhr, Jae Kyu
• Primary Examiner(s): Azarian, Seyed
• Application Number:
  US14/043,016
• Publication Number:
  US 20140355822A1
• Time in Patent Office: 693 Days
• Field of Search: 382/100, 382103-107, 382/155, 382/162, 382/168, 382/173, 382/181, 382/193, 382/199, 382/209, 382/219, 382/232, 382/254, 382/274, 382/276, 382286-291, 382/305, 382/312, 340/932.2, 348/148
• US Class Current: 1/1
• CPC Class Codes: G06V 20/586 of parking space

Abstract

An apparatus and a method for tracing a parking-lot is provided that includes a controller configured to recognize at least one parking-lot from a previous image frame which photographed a surrounding of a vehicle and extract a template according to a type of a parking-lot line of the recognized parking-lot. In addition, the controller is configured to generate a template transformed based on a position information of the parking-lot and calculate similarity by comparing a template generated from a previous image frame with a parking-lot line recognized from a current image frame. A position of a parking-lot is determined according to the calculated similarity and the controller is configured to correct the template based on an information of a parking-lot line extracted from the determined position.

Claims

1. An apparatus for tracing a parking-lot, the apparatus comprising:

a controller includes a memory and a processor, the memory configured to store program instructions and the processor configured to execute the program instructions, the program instructions when executed configured to;

recognize at least one parking-lot from a previous image frame which photographed a surrounding of a vehicle;

extract a template according to a type of a parking-lot line of the recognized parking-lot;

generate a template transformed based on a position information of the parking-lot;

calculate similarity by comparing a template generated from a previous image frame with a parking-lot line recognized from a current image frame;

determine a position of a parking-lot according to the calculated similarity;

determine a position and an orientation where a similarity with the template that corresponds to the parking-lot line recognized on the current image frame is the highest based on the calculated similarity;

correct the template based on information of the parking-lot line extracted from the determined position; and

correct the template by determining a thickness of a parking-lot line and a width of a parking-lot extracted from the determined position as a parameter of final template.

2. The apparatus of claim 1, wherein the controller is further configured to:

change the thickness of the parking-lot line and the width of the parking-lot of the template within a certain range; and

generate a plurality of templates.

3. The apparatus of claim 1, wherein the controller is further configured to:

generate a template by each type of the parking-lot when a parking-lot of a different type is recognized.

4. The apparatus of claim 1, wherein the controller is further configured to:

calculate a similarity between a parking-lot line recognized within a region of interest and the template, when the region of interest based on a movement of the vehicle is set on the current image frame.

5. The apparatus of claim 1, wherein the controller is further configured to:

correct the calculated similarity by reflecting when a parking-lot recognized on the current image frame is hidden by the vehicle or an obstacle.

6. A method for tracing a parking-lot, the method comprising:

recognizing, by a controller, at least one parking-lot from an image frame which photographed a surrounding of a vehicle;

generating, by the controller, a template that corresponds to a parking-lot line of the recognized parking-lot;

calculating, by the controller, a similarity by comparing a parking-lot line recognized from a current image frame with a template generated from a previous image frame;

determining, by the controller, a position of the parking-lot according to the calculated similarity;

determining, by the controller, a position and an orientation where a similarity with the template that corresponds to the parking-lot line recognized on the current image frame is the highest based on the calculated similarity;

correcting, by the controller, the template based on information of a parking-lot line extracted from the determined position; and

correcting, by the controller, the template by determining a thickness of a parking-lot line and a width of a parking-lot extracted from the determined position as a parameter of final template.

7. The method of claim 6, wherein generating a template includes:

changing, by the controller, the parking-lot line thickness and the parking-lot width of the template within a certain range and generating a plurality of templates.

8. The method of claim 6, wherein generating a template includes:

generating, by the controller, a template by each type of the parking-lot, when a parking-lot of different type is recognized.

9. The method of claim 6, wherein calculating the similarity includes:

calculating, by the controller, a similarity between a parking-lot recognized within a region of interest and the template when a movement-based region of interest of the vehicle is set on the current image frame.

10. The method of claim 6, wherein, after calculating the similarity further includes:

correcting, by the controller, the calculated similarity by reflecting when the parking-lot line recognized on the current image frame is hidden.

11. A non-transitory computer readable medium containing program instructions executed by a controller, the computer readable medium comprising:

program instructions that recognize at least one parking-lot from a previous image frame which photographed a surrounding of a vehicle;

program instructions that extract a template according to a type of a parking-lot line of the recognized parking-lot;

program instructions that generate a template transformed based on a position information of the parking-lot;

program instructions that calculate similarity by comparing a template generated from a previous image frame with a parking-lot line recognized from a current image frame;

program instructions that determine a position of a parking-lot according to the calculated similarity;

program instructions that determine a position and an orientation where a similarity with the template that corresponds to the parking-lot line recognized on the current image frame is the highest based on the calculated similarity;

program instructions that correct the template based on information of the parking-lot line extracted from the determined position; and

program instructions that correct the template by determining a thickness of a parking-lot line and a width of a parking-lot extracted from the determined position as a parameter of final template.

12. The non-transitory computer readable medium of claim 11, further comprising:

program instructions that change the parking-lot line thickness and the parking-lot width of the template within a certain range and generating a plurality of templates.

13. The non-transitory computer readable medium of claim 11, further comprising:

program instructions that generate a template by each type of the parking-lot, when a parking-lot of different type is recognized.

14. The non-transitory computer readable medium of claim 11, further comprising:

program instructions that calculate a similarity between a parking-lot recognized within a region of interest and the template when a movement-based region of interest of the vehicle is set on the current image frame.

15. The non-transitory computer readable medium of claim 11, further comprising:

program instructions that correct the calculated similarity by reflecting when the parking-lot line recognized on the current image frame is hidden.