| A Lidar-Based Parking Slots Detection System
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| Weikang Yang 1,2, Dagang Li 1, Wei Xu 1, Zhide Zhang 2 |
1School of Computer Science and Engineering , Macau University of Science and Technology
2Guangzhou Automobile Group Co Ltd |
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| ABSTRACT |
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To improve the robustness and eff ectiveness for detecting free parking spaces, we propose a LiDAR-based parking sensing
system, which contains multi-modules, i.e., perception, free space parking lots’ construction, parking space tracking and
obstacle detection. Comprehensive experiments demonstrate that our LiDAR-based parking sensing system can not only
predict free parking spaces at a long distance, but also can achieve superior performance in terms of recall rate and accuracy
of detected parking spaces. Moreover, our proposed LiDAR-based parking sensing system can achieve a signifi cant gain
over the ultrasonic-based one. Therefore, our proposed system can act an eff ective solution for detecting free parking slots
at a long distance in the fi eld of autonomous driving. |
| Key Words:
Autonomous vehicles · 3D LiDAR · Parking · Parking sensing system · Free space parking lots’ construction
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Corresponding Author.
Dagang Li , Email. 
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