Method and apparatus for estimating parking space gradient
AssigneesHyundai Motor Company, Kia Corporation
InventorDeuk Hyeon KIM
Life of this patent
Estimating the term…
Abstract
An apparatus for estimating a parking space gradient includes a parking space detection module that recognizes a type of a parking space based on an image captured by an image capturing device and recognizes a location of the parking space by detecting a plurality of key points corresponding to the parking space and a gradient estimation module that obtains angle information formed by the key points in the type of the parking space, estimates a rotation matrix based on estimation conditions previously set according to the angle information and the type of the parking space, and estimates a gradient of the parking space using the estimated rotation matrix and a predetermined reference rotation matrix.
Claims20
An apparatus for estimating a parking space gradient, the apparatus comprising:
- a parking space detection module configured to recognize a type of a parking space based on an image captured by an image capturing device and recognize a location of the parking space by detecting a plurality of key points corresponding to the parking space;
- and
- a gradient estimation module configured to obtain angle information formed by the key points in the type of the parking space, estimate a rotation matrix based on estimation conditions previously set according to the angle information and the type of the parking space, and estimate a gradient of the parking space using the estimated rotation matrix and a predetermined reference rotation matrix.
A method for estimating a parking space gradient, the method comprising:
- recognizing, by a processor, a type of a parking space based on an image captured by an image capturing device and recognizing a location of the parking space by detecting a plurality of key points corresponding to the parking space;
- obtaining, by the processor, angle information formed by the key points in the type of the parking space;
- estimating, by the processor, a rotation matrix based on estimation conditions previously set according to the angle information and the type of the parking space;
- and
- estimating, by the processor, a gradient of the parking space using the estimated rotation matrix and a predetermined reference rotation matrix.
Dependencies are inferred from the claim text.