Determining parking space occupancy using a 3D representation

• US 9,858,816 B2
• Filed: 05/21/2015
• Issued: 01/02/2018
• Est. Priority Date: 05/21/2014
• Status: Active Grant

• Current Assignee: Regents of The University of Minnesota (University of Minnesota)
• Original Assignee: Regents of The University of Minnesota (University of Minnesota)
• Inventors: Cook, Douglas J., Morellas, Vassilios, Morris, Theodore L., Papanikolopoulos, Nikolaos
• Primary Examiner(s): Rahmjoo, Manuchehr
• Application Number:
  US14/718,914
• Publication Number:
  US 20150339924A1
• Time in Patent Office: 957 Days
• Field of Search: None
• CPC Class Codes: G06T 2207/10021 Stereoscopic video; Stereoscopic image sequence
• CPC Class Codes: G06T 2207/30236 Traffic on road, railway or crossing
• CPC Class Codes: G06T 7/579 from motion
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: G06T 7/85 Stereo camera calibration
• CPC Class Codes: G06V 20/13 Satellite images
• CPC Class Codes: G06V 20/17 taken from planes or by drones
• CPC Class Codes: G06V 20/52 Surveillance or monitoring of activities, e.g. for recognising suspicious objects recognising microscopic objects G06V20/69
• CPC Class Codes: G08G 1/14 indicating individual free spaces in parking areas
• CPC Class Codes: G08G 1/144 on portable or mobile units, e.g. personal digital assistant [PDA]
• CPC Class Codes: G08G 1/146 where the parking area is a limited parking space, e.g. parking garage, restricted space

Abstract

Systems and methods for determining park stall occupancy are disclosed herein. The systems and methods include receiving a three dimensional representation of a parking stall in a parking lot. The systems and methods also include processing the three dimensional representation to determine occupancy of the parking stall. The parking stall has a boundary relative to the area.

Claims

1. A method comprising:

receiving a plurality of two dimensional images of a parking stall within a parking facility, wherein receiving the plurality of two dimensional images includes receiving the plurality of images from a single imaging source that is movable along a trajectory relative to the parking facility, and wherein the trajectory includes a predefined path;

generating a three dimensional representation of the parking stall using the plurality of two dimensional images and based on association of matching portions in the plurality of two dimensional images;

registering the three dimensional representation to align with the parking facility; and

processing the three dimensional representation to determine occupancy of the parking stall, the parking stall having a boundary relative to the parking facility.

2. The method of claim 1, wherein receiving the plurality of images includes receiving the plurality of images from at least one two dimensional imaging source.

3. The method of claim 2, wherein the at least one two dimensional imaging source includes at least one of an optical camera, an infrared camera, and a thermal camera.

4. The method of claim 1, wherein generating the three dimensional representation includes processing an image received from at least one of a laser scanner, an ultrasonic scanner, and depth imaging camera.

5. The method of claim 1, wherein generating the three dimensional representation includes using an iterative process and estimated parameters based on camera locations, the camera locations corresponding to the plurality images.

6. The method of claim 1, wherein registering includes back projecting.

7. The method of claim 1, wherein registering includes accessing global positioning (GPS) data.

8. The method of claim 1 wherein processing the three dimensional representation includes evaluating point probabilities at a specified height above a plane of the parking facility.

9. A system comprising:

a sensor including at least one camera configured to provide data corresponding to a plurality of two dimensional images of a parking facility, the parking facility having a plurality of parking spaces on a parking surface, wherein the at least one camera is movable along a trajectory relative to the parking facility, and wherein the trajectory includes a predefined path;

a processor coupled to the sensor and configured to receive the data, the processor configured to execute instructions to generate a three dimensional representation of the parking facility based on the data and based on association of matching portions in the plurality of two dimensional images, and the processor configured to register the three dimensional representation to align with the parking facility and determine occupancy of a selected parking space of the parking facility based on evaluating the three dimensional representation at a predetermined height above the parking surface; and

an interface coupled to the processor and configured to provide information as to occupancy of the plurality of parking spaces.

10. The system of claim 9, wherein the sensor includes a plurality of cameras, including at least one camera at a fixed location relative to the parking facility.

11. The system of claim 9, wherein the instructions are configured to segment the three dimensional representation.

12. The system of claim 9, wherein the instructions are configured to classify the three dimensional representation.

13. The system of claim 9, wherein the interface includes a network interface.

14. The system of claim 9, wherein the interface includes a wireless communication channel.

15. A system comprising:

a sensor configured to provide two dimensional data corresponding to a parking facility, the parking facility having a plurality of parking spaces on a parking surface, wherein the sensor is movable along a trajectory relative to the parking surface, and wherein the trajectory includes a predefined path;

a processor coupled to the sensor and including instructions that, when executed by the processor, cause the processor to;

receive the two dimensional data, execute instructions to generate a three dimensional representation of the parking facility based on the two dimensional data and based on association of matching portions in the plurality of two dimensional data, register the three dimensional representation to align with the parking facility and determine an occupancy status of each of the plurality of parking spaces of the parking facility based on evaluating the three dimensional representation of the parking facility; and

an interface coupled to the processor and configured to provide information as to the occupancy status.

16. The system of claim 15, wherein the three dimensional representation includes a three dimensional point cloud.

17. The system of claim 16, wherein the instructions further cause the processor to segment the three dimensional representation.

18. The system of claim 17, wherein the instructions further cause the processor to classify the three dimensional representation.

19. The system of claim 15, wherein the instructions further cause the processor to segment a foreground from a background.