Parking Slot Markings Recognition for Automatic Parking Assist System

This paper describes a monocular vision based parking-slot-markings recognition algorithm, which is used to automate the target position selection of automatic parking assist system. Peak-pair detection and clustering in Hough space recognize marking lines. Specially, one-dimensional filter in Hough space is designed to utilize a priori knowledge about the characteristics of marking lines in bird's eye view edge image. Modified distance between point and line-segment is used to distinguish guideline from recognized marking line-segments. Once the guideline is successfully recognized, T-shape template matching easily recognizes dividing marking line-segments. Experiments show that proposed algorithm successfully recognizes parking slots even when adjacent vehicles occlude parking-slot-markings severely