An image processing device includes a marker detector configured to detect markers including white lines extending in two directions on a road surface based on an image signal from an imager that takes an image of the road surface around a vehicle, a parking frame detector configured to compute adjacent markers on the road surface among the detected markers, and to detect a parking frame defined by the adjacent markers based on a distance between the adjacent markers, and a shape estimator configured to detect extending directions of the white lines of the markers that are included in the detected parking frame, and to estimate a shape of the parking frame based on the extending directions of the detected white lines.

A travel amount estimation apparatus 10 includes a vehicle travel amount calculation unit 14, a sensor travel amount calculation unit 11, an error cause determination unit 16, and a vehicle travel amount correction unit 17. The vehicle travel amount calculation unit 14 acquires vehicle information 30 related to traveling of an own-vehicle and calculates a vehicle travel amount indicating a travel amount of the own-vehicle based on the vehicle information 30. The sensor travel amount calculation unit 11 acquires sensor information related to a surrounding environment of the own-vehicle from an external sensor 20 and calculates a sensor travel amount indicating a travel amount of the own-vehicle based on the sensor information. The error cause determination unit 16 determines an error cause of the vehicle travel amount. The vehicle travel amount correction unit 17 corrects the vehicle travel amount by using the sensor travel amount in accordance with the error cause and estimates a travel amount of the own-vehicle.

A vehicle may include a camera obtaining a surrounding image around the vehicle; and a controller configured to derive spatial recognition data by learning the surrounding image of the vehicle as an input value of the controller, derive object recognition data including wheel area data of surrounding vehicles around the vehicle by learning the surrounding image of the vehicle as an input value of the controller, determine a ground clearance between a bottom surface of a vehicle body of the surrounding vehicles and a ground by use of the spatial recognition data and the wheel area data, and control the vehicle to park the vehicle according to the ground clearance.

A method of controlling a lighting fixture based on motion detection includes: receiving a plurality of captured image frames; obtaining a plurality of resampled image frames by resampling the captured image frames according to regional characteristics of the resampled image frames; dynamically adjusting a sensitivity for motion detection according to the regional characteristics of the resampled image frames; performing motion detection on the resampled image frames according to the sensitivity; and controlling the lighting fixture according to a result of the motion detection.

Provided is an image processing system that is capable of preventing contact between an obstacle and a movable apparatus regardless of the state of the movable apparatus, comprising an obstacle information acquisition unit configured to detect a position and a height of an obstacle in a traveling direction of a movable apparatus, a ground clearance detection unit configured to detect the ground clearance, which is the height from the ground surface in the traveling direction of the movable apparatus to the movable apparatus, a contact determination unit configured to determine whether or not the movable apparatus and the obstacle will come into contact with each other in the traveling direction of the movable apparatus based on the position and height of the obstacle and the ground clearance, and a warning output unit configured to output a warning in a case in which it has been determined by the contact determination unit that contact will occur.

The disclosure provides a parking space detection method and device, a vehicle, and a storage medium. The method includes: separately inputting an obtained current frame image into a pre-trained parking space detection model, a pre-trained obstacle detection model, and a pre-trained scenario detection model, to obtain a parking space prediction result, an obstacle prediction result, and a scenario prediction result; determining, based on a detected positional relationship between any target parking space and a vehicle-mounted camera, whether the target parking space is a parking space where the vehicle-mounted camera is located; performing, if yes, verification on a parking space prediction result of the target parking space by using an obstacle prediction result and a scenario prediction result, to obtain a single-frame prediction result of the target parking space; and performing, if no, verification on a parking space prediction result of the target parking space by using a scenario prediction result, to obtain a single-frame prediction result of the target parking space. In this way, after the verification based on the plurality of verification mechanisms, a highly precise parking space detection result is given in a complex scenario, and a precise prediction result is given while the vehicle does not need to pass the target parking space completely, which improves a parking space release rate.

A vehicle parking robot includes: a first robot including a first body provided with a first rail, a first front fork that moves along the first rail, a first rear fork that moves along the first rail, and a first electric wheel that provides a driving force; a first camera that captures an image of the first vehicle wheel and collects first image information; and a first controller that identifies the first vehicle wheel from the first image information, and controls the first front fork, the first rear fork, and the first electric wheel. The vehicle parking robot lifts the vehicle from the ground, and places the vehicle in a parking space.

The present embodiment relates to image acquisition and, in particular, to an image acquisition apparatus for acquiring images by a camera installed in a vehicle, and a method therefor. The image acquisition apparatus according to the present embodiment comprises: a projector for illuminating a reference pattern to the ground; a first camera unit for capturing an image of the reference pattern illuminated by the projector; a second camera unit for capturing an image; and a control unit for analyzing a pattern captured by the first camera unit and processing the image captured by the second camera unit.

Improvement in the accuracy of estimating the position of a mobile entity even while traveling or if there is an error in the calibration performed utilizing: a mobile entity; an imaging device provided in the mobile entity; and an information processing device for determining a first movement amount by which a detection point that is the same object has moved on the basis of a first image and a second image acquired by the imaging device and a second movement amount by which the mobile entity has moved while the first image and the second image were acquired, determining the accuracy of recognizing the detection point acquired by the imaging device on the basis of the first movement amount and the second movement amount, and estimating the position of the mobile entity on the basis of the accuracy of recognition and position information that pertains to the detection point.

An image processing device used on a mobile body has: a determiner configured to determine one out of a plurality of combination patterns as to the presence or absence of an object in a plurality of predetermined regions around the mobile body; and a generator configured to generate a composite image by projecting onto a virtual projection surface a plurality of shot images acquired by a plurality of cameras taking images of the surroundings of the mobile body. The generator is configured to select, out of a plurality of projection surfaces prepared beforehand, the projection surface used in generating the composite image in accordance with the combination pattern determined by the determiner.