面向协作式自动泊车的场端单目视觉测距系统

Monocular Visual Distance Measurement System Used at Park for Collaborative Automatic Parking

在协作式自动泊车的实现过程中,较为关键的一点是停车场全局范围内相关车辆的识别与定位,因此本文提出一种应用于场端基于单目视觉的车辆识别与定位方法。首先,考虑基础设施停车场的特点,设计灵活性更好的以分布式架构为核心的感知系统架构,改进SSD网络以使检测模型更适于在边缘处理设备中部署运行;之后分析并构建用于场端的单目视觉测距数学模型;最终综合利用目标检测与视觉测距算法,完成目标车辆的识别与定位。为验证单目视觉测距算法在场端中应用的有效性,在真实的停车场环境中设计模拟实验,进行相应的测试,实验结果表明,视觉测距精度满足系统要求。

In the process of realizing collaborative automatic parking,the key point is to identify and locate the target vehicle in the global scope of the parking lot.Therefore,this paper proposes a vehicle identification and location method based on monocular vision that is suitable for the parking lot.Firstly,considering the characteristics of the parking lot,a distributed architecture is designed to ensure the flexibility of the perception system.An improved SSD network is proposed to make it run better in embedded devices,and then a monocular measurement model is established.Finally,the detection and ranging algorithm is used to realize the identification and location of vehicles.In order to verify the effectiveness of the monocular measurement algorithm,an experiment is designed and tested in a real parking lot.The experimental results show that the accuracy of the visual ranging meets the requirements of the system.