Vision-based parking-slot detection: A benchmark and a learning-based approach

Recent years have witnessed a growing interest in developing automatic parking systems in the field of intelligent vehicle. However, how to effectively and efficiently locating parking-slots using a vision-based system is still an unresolved issue. In this paper, we attempt to fill this research gap to some extent and our contributions are twofold. Firstly, to facilitate the study of vision-based parking-slot detection, a large-scale parking-slot image database is established. For each image in this database, the marking-points and parking-slots are carefully labelled. Such a database can serve as a benchmark to design and validate parking-slot detection algorithms. Secondly, a learning based parking-slot detection approach is proposed. With this approach, given a test image, the marking-points will be detected at first and then the valid parking-slots can be inferred. Its efficacy and efficiency have been corroborated on our database. The labeled database and the source codes are publicly available at http://sse.tongji.edu.cn/linzhang/ps/index.htm.