Detection of Empty/Occupied States of Parking Slots in Multicamera system using Mask R-CNN Classifier

A fast growth of vehicles in big cities has an impact of arising road loads and difficulty of finding empty parking spaces. One solution to cope with the problem is to develop a parking management system which can provide useful information of available parking spaces to the potential users. This paper discusses about a new multicamera arrangement and the function to evaluate the empty/occupied states of the parking slots, as an alternative solution to the existing single camera system, The system adopted Mask R-CNN for its classifier, because of its capability to provide the polygon outputs for its detected objects, compared with the existing bounding box outputs provided by other classifiers. The proposed function has optimized the available information from all cameras, by considering the relative position of each camera to the parking spaces, and also capable of overcoming occlusion problem occurs in some cameras, The experiment shows that the capability of overcoming the occlusion problem has been validated, and its performance to evaluate the empty/occupied states of the parking slots was better than the single camera system to a certain threshold

Near-field Perception for Low-Speed Vehicle Automation using Surround-view Fisheye Cameras

Cameras are the primary sensor in automated driving systems. They provide high information density and are optimal for detecting road infrastructure cues laid out for human vision. Surround-view camera systems typically comprise of four fisheye cameras with 190{\deg}+ field of view covering the entire 360{\deg} around the vehicle focused on near-field sensing. They are the principal sensors for low-speed, high accuracy, and close-range sensing applications, such as automated parking, traffic jam assistance, and low-speed emergency braking. In this work, we provide a detailed survey of such vision systems, setting up the survey in the context of an architecture that can be decomposed into four modular components namely Recognition, Reconstruction, Relocalization, and Reorganization. We jointly call this the 4R Architecture. We discuss how each component accomplishes a specific aspect and provide a positional argument that they can be synergized to form a complete perception system for low-speed automation. We support this argument by presenting results from previous works and by presenting architecture proposals for such a system. Qualitative results are presented in the video at https://youtu.be/ae8bCOF77uY.Comment: Accepted for publication at IEEE Transactions on Intelligent Transportation System

Improving RRT for Automated Parking in Real-world Scenarios

Automated parking is a self-driving feature that has been in cars for several years. Parking assistants in currently sold cars fail to park in more complex real-world scenarios and require the driver to move the car to an expected starting position before the assistant is activated. We overcome these limitations by proposing a planning algorithm consisting of two stages: (1) a geometric planner for maneuvering inside the parking slot and (2) a Rapidly-exploring Random Trees (RRT)-based planner that finds a collision-free path from the initial position to the slot entry. Evaluation of computational experiments demonstrates that improvements over commonly used RRT extensions reduce the parking path cost by 21 % and reduce the computation time by 79.5 %. The suitability of the algorithm for real-world parking scenarios was verified in physical experiments with Porsche Cayenne.Comment: 19 pages, 14 figures, 2 table

Automatic Vision-Based Parking Slot Detection and Occupancy Classification

Parking guidance information (PGI) systems are used to provide information to drivers about the nearest parking lots and the number of vacant parking slots. Recently, vision-based solutions started to appear as a cost-effective alternative to standard PGI systems based on hardware sensors mounted on each parking slot. Vision-based systems provide information about parking occupancy based on images taken by a camera that is recording a parking lot. However, such systems are challenging to develop due to various possible viewpoints, weather conditions, and object occlusions. Most notably, they require manual labeling of parking slot locations in the input image which is sensitive to camera angle change, replacement, or maintenance. In this paper, the algorithm that performs Automatic Parking Slot Detection and Occupancy Classification (APSD-OC) solely on input images is proposed. Automatic parking slot detection is based on vehicle detections in a series of parking lot images upon which clustering is applied in bird's eye view to detect parking slots. Once the parking slots positions are determined in the input image, each detected parking slot is classified as occupied or vacant using a specifically trained ResNet34 deep classifier. The proposed approach is extensively evaluated on well-known publicly available datasets (PKLot and CNRPark+EXT), showing high efficiency in parking slot detection and robustness to the presence of illegal parking or passing vehicles. Trained classifier achieves high accuracy in parking slot occupancy classification.Comment: 39 pages, 8 figures, 9 table