The invention discloses a 3D semantic occupancy prediction method for parking space occupancy detection of a parking lot, and belongs to the technical field of vehicle parking detection. The method comprises the following steps: collecting image data of a parking lot scene through a camera in a parking lot; extracting image features from the collected image data, and predicting depth information of each pixel point in the image; reconstructing a 3D occupation grid of the parking lot scene according to the extracted image features and the predicted depth information; performing accurate semantic classification/identification on each voxel in a space in a 3D occupied grid under depth guidance, and reconstructing a complex three-dimensional scene with a semantic label, including an occlusion area and an image invisible area; and carrying out parking space occupation prediction based on the reconstructed three-dimensional scene, and identifying a parking space abnormal condition according to an occupation prediction result. According to the invention, 3D reconstruction is carried out by combining the depth information and the image features, and the problem of insufficient precision in a 3D reconstruction method based on monocular vision can be effectively solved.
本发明公开了一种用于停车场车位占据检测的3D语义占据预测方法,属于车辆停车检测技术领域。该方法包括以下步骤:通过停车场内的摄像头采集停车场场景的图像数据;从采集的图像数据中提取图像特征,并预测图像中每个像素点的深度信息;根据提取的图像特征和预测的深度信息重建停车场场景的3D占据栅格;在深度引导下的3D占据栅格中,对空间内每个体素进行精确的语义分类/识别,重建出包括遮挡和图像不可见区域在内的复杂的具有语义标签的三维场景;基于重建的三维场景进行车位占据预测,根据占据预测结果识别出车位异常情况。本发明通过结合深度信息和图像特征进行3D重建,能够有效解决基于单目视觉的3D重建方法中存在的精度不足问题。
3D semantic occupation prediction method for parking space occupation detection of parking lot
一种用于停车场车位占据检测的3D语义占据预测方法
11.04.2025
Patent
Elektronische Ressource
Chinesisch
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