湖南大学学报（自然科学版）2024，Vol.51Issue(2)：177-186,10.DOI:10.16339/j.cnki.hdxbzkb.2024156
基于全景环视的端到端停车位检测方法
End-to-end Parking Slot Detection Method Based on Panoramic Surround View
摘要
Abstract
Most of the existing parking spot detection solutions simply combine the target detection scheme and with manually designed post-processing modules,and there is a large amount of redundant information in the features extracted at each stage.Moreover,the manually designed post-processing modules are usually narrowly adapted and computationally intensive,which ultimately makes the parking space detection effect difficult to be practical.To address these problems,this paper introduces panoramic vision and combines the advantages of existing algorithms with the characteristics of surround-view images to design an end-to-end anchorless frame parking spot detection algorithm.The algorithm models the entry line orientation of parking spaces instead of considering two entry points separately,eliminating the process of parking space entry point matching and orientation judgment,and finally realizing realizes fully integrated parking space location,orientation,and occupancy detection.Considering the practicality,the network structure design is optimized in many aspects,such as the balance of speed and accuracy,positive and negative sample balance,and no post-processing.Finally,on the ps2.0 dataset,the AFPSD model proposed in this paper achieves 68.7％AP with a FPS(Frames Per Secend)of 88.7,which is 1.2％and 2.1％higher accuracy compared to the VPS-Net and DMPR-PS schemes,respectively.It can be seen that the one-stage end-to-end scheme designed in this paper can replace the three-stage scheme to achieve stable detection of parking slots on the surround-view image.关键词
自主泊车/目标检测/停车位检测/环视图像Key words
autonomous parking/object detection/parking slot detection/surround-view image分类
信息技术与安全科学引用本文复制引用
秦晓辉,殷周平,张素英,黄圣杰,张润邦,芦涛,刘硕,胡满江..基于全景环视的端到端停车位检测方法[J].湖南大学学报（自然科学版）,2024,51(2):177-186,10.基金项目
长沙市自然科学基金资助项目(kq2202162),Changsha Natural Science Foundation of China(kq2202162) （kq2202162）
国家自然科学基金资助项目(52172384),National Natural Science Foundation of China(52172384) （52172384）
湖南省湖湘青年科技创新人才(2021RC3048),S&T Innova-tion Program of Hunan Province(2021RC3048) （2021RC3048）
汽车车身先进设计制造国家重点实验室自主研究课题(61775006),Independent Research Program of State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body(61775006) （61775006）
