Semi-automatic Parking System Recognizing Parking Lot Markings

This paper describes a semi-automatic parking system, which can designate target position by recognizing parking lot markings. Driver is able to designate or refine the target position by drag&drop based novel user interface. Peak pair detection and clustering in Hough space recognize marking lines. Specially, one-dimensional filter in Hough space is developed to incorporate a priori knowledge about the characteristics of marking lines in bird’s eye view edge image. Utilizing the structure of parking lot marking line-segments, system recognizes guideline and dividing marking line-segments. By dragging the inside of target position on touch screen, driver can translate the target position. By dragging the outside of target position on touch screen, driver can rotate the target position. Experiments show that the proposed algorithm successfully recognizes parking lots even when adjacent vehicles occlude parking lot markings severely. Furthermore, with the proposed novel user interface, driver is able to set target position in two or three handlings.