Methods and Systems for Parking Zone Mapping and Vehicle Localization Using Mixed-Domain Neural Network

A system for assisting a vehicle to park using mixed-domain image data, the system comprising:

• a plurality of image sensors mounted to the vehicle and configured to generate raw image data;
• one or more processors;
• and
• memory coupled to the one or more processors, the memory storing instructions that, when executed by the one or more processors, cause the one or more processors to:
• generate image-domain data via a feature-detection machine learning model and based on the raw image data received from the plurality of image sensors, wherein the raw image data is associated with a parking zone outside the vehicle;
• generate a bird's-eye-view (BEV) image based on the raw image data, wherein the BEV image is a projected image of the parking zone;
• generate BEV-domain data associated with the BEV image, wherein the BEV-domain data includes data associated with parking landmarks in the parking zone;
• localize the vehicle within the parking zone based on the BEV-domain data and the image-domain data to generate localization data;
• and
• generate a map of the parking zone based on the BEV-domain data, the image-domain data, and the localization data.

A non-transitory computer-readable storage medium storing one or more programs, the one or more programs comprising instructions which, when executed by one or more processors of an electronic device, cause the electronic device to perform:

• generating image-domain data based on raw image data received from a plurality of cameras mounted on a vehicle, wherein the raw image data is associated with a parking zone outside the vehicle, and wherein the image-domain data is generated by a feature-detection machine learning model;
• generating a bird's-eye-view (BEV) image based on the raw image data, wherein the BEV image is a projected image of the parking zone;
• generating BEV-domain data associated with the BEV image, wherein the BEV-domain data includes data associated with parking landmarks in the parking zone;
• localizing the vehicle within the parking zone based on the BEV-domain data and the image-domain data to generate localization data;
• and
• mapping the parking zone based on the BEV-domain data, the image-domain data, and the localization data.