Estimating 3D Egomotion from Perspective Image Sequence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Least-Squares Estimation of Transformation Parameters Between Two Point Patterns
IEEE Transactions on Pattern Analysis and Machine Intelligence
Performance of optical flow techniques
International Journal of Computer Vision
The Development and Comparison of Robust Methodsfor Estimating the Fundamental Matrix
International Journal of Computer Vision
The Problem of Degeneracy in Structure and Motion Recovery from Uncalibrated Image Sequences
International Journal of Computer Vision - 1998 Marr Prize
Introductory Techniques for 3-D Computer Vision
Introductory Techniques for 3-D Computer Vision
Computer Vision and Image Understanding - Special issue on empirical evaluation of computer vision algorithms
Frame Decimation for Structure and Motion
SMILE '00 Revised Papers from Second European Workshop on 3D Structure from Multiple Images of Large-Scale Environments
Real-Time Implementation of an Optical Flow Algorithm
ICPR '02 Proceedings of the 16 th International Conference on Pattern Recognition (ICPR'02) Volume 4 - Volume 4
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Real Time Localization and 3D Reconstruction
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Monocular Vision Based SLAM for Mobile Robots
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 03
Monocular Vision for Mobile Robot Localization and Autonomous Navigation
International Journal of Computer Vision
Outlier rejection for cameras on intelligent vehicles
Pattern Recognition Letters
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
FPGA-based real-time optical-flow system
IEEE Transactions on Circuits and Systems for Video Technology
Light-stripe-projection-based target position designation for intelligent parking-assist system
IEEE Transactions on Intelligent Transportation Systems
Parking assistance using dense motion-stereo
Machine Vision and Applications
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This paper proposes a free parking space detection system by using motion stereo-based 3D reconstruction. An image sequence is acquired with a single rearview fisheye camera and the view behind the automobile is three-dimensionally reconstructed by using point correspondences. Metric information is recovered from the camera height ratio and free parking spaces are detected by estimating the positions of adjacent vehicles. Since adjacent vehicles are usually located near the epipole, their structures are seriously degraded. To solve this problem, we select point correspondences by using a de-rotation-based method and mosaic 3D structures by estimating a similarity transformation. Unlike in previous work, our system proposes an efficient way of locating free parking spaces in 3D point clouds. Odometry is not used because its accuracy depends largely on road conditions. In the experiments, the system was tested in 154 different parking situations and its success rate was 90% (139 successes in 154 cases). The detection accuracy was evaluated by using ground truth data that was acquired with a laser scanner.