Vision detection method of car body relative parking position based on closerange images of binocular lens
1. School of Mechanical Engineering, Jiangsu University, Zhenjiang， Jiangsu 212013， China; 2. Institute of Automotive Engineering, Jiangsu University, Zhenjiang， Jiangsu 212013， China
Abstract：To improve the single application adaptability of machine vision technology in the field of automatic parking to the orientation detection of the target empty parking space, a new machine vision detection method for the relative position of car body was investigated based on the closerange image of binocular lens. The closerange image of the parking space was collected through the binocular lens. Through the image processing of image correction, image mosaic, inverse perspective transformation and image binarization, the contour edge of the target empty parking space on the top plane and the position point of the binocular lens were extracted. The coordinate system of the vehicle body relative to the target empty parking space was established, and the coordinates of the binocular lens in the twodimensional coordinate system of the parking space were determined through visual recognition and pixel point coordinate calculation. Based on the known parking space and car size, the position of fisheye lens on the car body and other information, the calculation relationship model between the azimuth and distance of the car body relative to the parking space was established by geometric method. The results show that the maximum relative error of azimuth detection is 916%, and the maximum relative error of range detection is 389%, which improves the adaptability of target empty parking space detection
张西良， 闫妍， 刘玉芹， 袁朝春. 基于双目近景图像的车体相对车位方位视觉检测方法[J]. 江苏大学学报（自然科学版）, 2023, 44(3): 262-269.
ZHANG Xiliang， YAN Yan， LIU Yuqin, YUAN Chaochun. Vision detection method of car body relative parking position based on closerange images of binocular lens[J]. Journal of Jiangsu University(Natural Science Eidtion)
, 2023, 44(3): 262-269.
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LU P P, LIU Q, GUO J M. Camera calibration implementation based on Zhang Zhengyou Plane method[C]∥Proceedings of the 2015 Chinese Intelligent Systems Conference, 2016:29-40.
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JIANG H B, WANG C Y, MA S D, et al. Parking slot recognition of automatic parking system based on image gradient matching[J]. Journal of Jiangsu University (Natural Science Edition),2020,41(6):621-626.（in Chinese）
［2］
FAZIO M, GIUFFRIDA N, PIRA M L, et al. Bike oriented development: selecting locations for cycle stations through a spatial approach[J]. Research in Transportation Business & Management, doi: 10.1016/j.rtbm.2020.100576.
SUN T, GENG G H, ZHANG E M, et al. The weak target detection method based on the subspace bearing stability[J]. Journal of Shanghai Jiaotong University,2018,52(4):480-487.（in Chinese）
LYU R H, ZHAO C S, YANG Z W,et al. Research on computational method for extended target posture angle[J]. Chinese Journal of Science Instrument,2006,27(S2):1211-1212.（in Chinese）
SUN S J,YANG X D. Target azimuth measuring method based on computer vision[J]. Fire Control & Command Control,2016,41(3):161-165.（in Chinese）
［6］
LI Y L, ZHANG X, TU D W. Probebased multiview field 3D vision measurement system based on threedimensional orientation target[J]. Optics and Precision Engineering,2019,27(1):34-44.
［7］
WANG T Y, DONG W B, WANG Z Y. Position and orientation measurement system based on monocular vision and fixed target[J]. Infrared and Laser Engineering, 2017,46(4):153-160.
［8］
LU P P, LIU Q, GUO J M. Camera calibration implementation based on Zhang Zhengyou Plane method[C]∥Proceedings of the 2015 Chinese Intelligent Systems Conference, 2016:29-40.
［9］
LI Y L. A calibration method of computer vision system based on dual attention mechanism[J]. Image and Vision Computing,doi: 10.1016/j.imavis.2020.104039.
[10]
HUANG L L, LI W G, YANG Q L, et al. Monocular camera calibration method for robot system[J]. Applied Mechanics and Materials,2015, 741:697-700.
