AutoParking

AutoParking using RaspberryPi

Overview

This project has been performed under three objectives.

1. Study and analyze the latest autonomous parking algorithms for application

2. Implement and simulate autonomous parking

3. Conceptualize business idea of autonomous charging service including a mobile application and a battery charger robot manipulator. The service is to enable self-driving cars charge their batteries instead of letting cars merely idle at parking lots.

For detailed information about the project, please check the report attached to this repository.

Implementation on RaspberryPi4b

Hardware Development

• One vehicle chasis with a suspension structure
• Two RPi fisheye camera lens modules
• Arducam Multi Camera Adapter Doubleplexer Stereo mdule
• PCA9685 PWM/Servo driver
• MG996R Servo motor
• TB6612 DC/Stepper motor
• 12V DC motor
• TOF ultrasonic sensor

Bird View Image

The fisheye image needs to be converted into undistorted image and then the birdview image. Below pictures show the three stages of image transformation.

Fisheye Image	Undistorted Image	BirdView Image

Parking Lot Detection

Parking Lot Detection model is based on context-based parking slot detection.

Results

After obtaining the bird view image from our test environment, the vacant parking slot could be detected with the context-based recognizer model.

Test Image	Test Result Image

Test Environment

For validation of our model, we constructed our own envrionment. We tried to reconstruct test environment as close as the real-world parking lot.

Execution

You can just simply start the RaspberryPi car to park autonomously with this script.

Still you need to have a context-based parking slot detector model which can be downloaded from here

Save the weights under ./ScatCar/models/context_based/weight_pcr and ./ScatCar/models/context_based/weight_psd

python main.py

Authors

brucekimork

hkh9715

Hoyongpark

kkaki19

limaries30

References

Around View Monitoring (AVM)

https://github.com/Nebula4869/fisheye_camera_undistortion

https://github.com/Ahid-Naif/Around-View-Monitoring-AVM

Context-Based Parking Slot Detection

https://github.com/dohoseok/context-based-parking-slot-detect