Parking space detection method, apparatus, device and storage medium

A parking space detection apparatus, comprising:

• a detection image obtaining module, configured to obtain a plurality of consecutive detection image frames of a region in which a current vehicle is located;
• a parking space recognition module, configured to, for each of the plurality of consecutive detection image frames, recognize one or more recognized parking spaces and parking space corners of the recognized parking space;
• a parking space verification module configured to perform, based on the parking space corners, parking space verification to determine a verified parking space from the one or more recognized parking spaces;
• a parking space tracking module configured to track, by using a parking space tracking list, the verified parking space in the plurality of consecutive detection image frames, to record, in the parking space tracking list, a quantity of consecutive visible frames among the plurality of consecutive detection image frames in which the verified parking space is recognized, and a quantity of consecutive missing frames among the plurality of consecutive detection image frames in which the verified parking space is not recognized, and delete the verified parking space from the parking space tracking list in a case that the quantity of the consecutive missing frames of the verified parking space reaches a first frame quantity threshold;
• and
• a parking space semantic output module, configured to determine and output, based on the parking space corners of the verified parking space, parking space semantic information of the verified parking space if the quantity of consecutive visible frames of the verified parking space in the parking space tracking list reaches a second frame quantity threshold.

A non-transitory computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, causes the processor to perform operations, the operations comprising:

• obtaining a plurality of consecutive detection image frames of a region in which a current vehicle is located;
• for each of the plurality of consecutive detection image frames, recognizing one or more recognized parking spaces and parking space corners of the recognized parking space;
• performing, based on the parking space corners, parking space verification to determine a verified parking space from the one or more recognized parking spaces;
• tracking, by using a parking space tracking list, the verified parking space in the plurality of consecutive detection image frames, to record, in the parking space tracking list, a quantity of consecutive visible frames among the plurality of consecutive detection image frames in which the verified parking space is recognized, and a quantity of consecutive missing frames among the plurality of consecutive detection image frames in which the verified parking space is not recognized, and delete the verified parking space from the parking space tracking list in a case that the quantity of the consecutive missing frames of the verified parking space reaches a first frame quantity threshold;
• and
• determining and outputting, based on the parking space corners of the verified parking space, parking space semantic information of the verified parking space if the quantity of consecutive visible frames of the verified parking space in the parking space tracking list reaches a second frame quantity threshold.