Shanghai Geometrical Perception and Learning Co., Ltd.

Yingzhong Zhao

Dan Xue

Songhua Shi

Xinfei Lu

A method for global parking status detection based on 4D millimeter wave imaging radar, includes: self-vehicle position estimation based on the relative transformation between the acquired front and rear frames of the 4D millimeter wave imaging radar point cloud; acquire a submap within a preset range around the self-vehicle; carry out the extraction of the ROI point cloud in the generated submap; carry out filtering, clustering, and point cloud contour extraction processing points sequentially on the extracted point cloud; and carry out the fitting process of the vehicle position boundary points based on the acquired individual boundary points; associate the currently detected parking space boundary points with the global parking space point cloud map for the parking space, and obtain the submap point cloud parking space and global parking space association pairs; and make judgement of the parking space state based on the parking space association state.

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Shanghai, China

Yingzhong Zhao