The present disclosure relates to an apparatus and a method for controlling a parking operation of a vehicle, and more particularly, to an apparatus and method for evaluating each available parking space in a parking area to determine a parking space. Specifically, the parking control apparatus includes: a reception unit configured to receive parking area map information from a server; an extraction unit configured to extract a candidate parking space list including one or more available parking spaces on the basis of the parking area map information; an available parking space evaluation unit configured to allocate a priority order to each of the available parking spaces included in the candidate parking space list on the basis of preset priority order allocation condition information; and a parking space determination unit configured to determine a target parking space for a subject vehicle on the basis of information on priority orders allocated to respective available parking spaces.

This calibration apparatus calibrates a camera mounted on a vehicle and includes: an image obtaining unit that obtains an image of outside of the vehicle; and a calibration unit that calibrates a camera parameter which is the roll angle and/or the pitch angle of the camera by using corresponding feature points in an image of the vehicle captured before a change in the attitude thereof and in an image captured after the change in the attitude thereof.

A vehicle system includes a camera, a sensor, and processors for detecting an unoccupied parking spot while the vehicle traverses a detection path. The processors define a variable virtual boundary based on at least one object detected on a side of the detection path excluding the unoccupied parking spot and generates at least one parking maneuver based on the unoccupied parking spot and the variable virtual boundary.

Parking spot detection methods and systems that detect and pair parking line markers, improving the accuracy and speed of parking spot detection in vehicular driver assist (DA) and autonomous driving (AD) applications. These methods and systems incorporate three major steps: (1) preprocessingone or more standard camera images are input into the algorithm and a bird's-eye-view (BEV) image is output from the algorithm; (2) deep neural network (DNN) segmentation of the parking line markersthe BEV image is input into the algorithm and a binary image is output from the algorithm (with, e.g., the parking line markers areas displayed in white and the background displayed in black); and (3) binary image processingthe binary image is input into the algorithm and detected and paired parking line markers representing the parking spots are output from the algorithm.

An apparatus for calculating an estimation value of movement information of a mobile body based on information from a camera mounted on the mobile body. The apparatus includes an extractor that extracts feature points from frame images input from the camera, a calculator that calculates an optical flow indicating movements of the feature points between a current frame image and a previous frame image, and an estimator that calculates the estimation value based on the optical flow. The estimator switches a calculation method of the estimation value based on at least one of (i) a speed of the mobile body, (ii) a number of the feature points extracted by the extractor, and (iii) feature amounts indicating uniqueness of the feature points.

The present invention provides an on-board vehicle system and method for camera or sensor-based parking spot detection and identification. Advantageously, this system and method utilizes a standard front (or side or rear) camera or sensor image to detect and identify one or more parking spots at a distance via vector or like representation using a deep neural network trained with data annotated using an annotation tool, without first transforming the standard camera or sensor image(s) to a bird's-eye-view (BEV) or the like. The system and method can be incorporated in a driver-assist (DA) or autonomous driving (AD) system.

Aspects described herein may allow for vehicle tracking. Systems and methods described herein may allow a vehicle to automatically detect the presence of a physical marker at a parking space. An image of the physical marker may be processed to determine the location of the vehicle, which may be stored and/or output for display.

An automated parking system includes an automated parking vehicle and an information terminal. The vehicle includes a parking control device and a communication device. The parking control device controls the vehicle to cause the vehicle to search for and park in a vacant parking slot by means of autonomous travel. The communication device transmits automated parking status information to the information terminal when no vacant parking slot is found. Furthermore, the communication device receives an instruction about status control of the vehicle from the information terminal. The information terminal includes a communication device. The parking control device controls the vehicle according to the instruction about the status control of the vehicle that has been received from the information terminal.

A method of tracking a mobile device comprising at least one camera in a real environment comprises the steps of receiving image information associated with at least one image captured by the at least one camera, generating a first geometrical model of at least part of the real environment based on environmental data or mobile system state data acquired in an acquisition process by at least one sensor of a mobile system, which is different from the mobile device, and performing a tracking process based on the image information associated with the at least one image and at least partially according to the first geometrical model, wherein the tracking process determines at least one parameter of a pose of the mobile device relative to the real environment. The invention is also related to a method of generating a geometrical model of at least part of a real environment using image information from at least one camera of a mobile device.

A charging support device is used in charging a battery of a vehicle having a power reception unit on a bottom surface of the vehicle with power supplied from a power transmission device located outside the vehicle. The charging support device includes a controller that generates an overhead view image that displays a vehicle image of the vehicle and an image of a surrounding area of the vehicle captured by a camera. The controller displays, in the overhead view image, (i) a first mark indicating a position of the power reception unit and (ii) a second mark indicating a position of the power transmission device. The controller varies a color or a size of the second mark in a case where a positional relationship between the position of the power reception unit and the position of the power transmission device achieves a predetermined charging efficiency.