Kai Che

In the domain of automatic parking systems, parking space detection and localization represent fundamental challenges that must be addressed. As a core research focus within the field of intelligent automatic parking, they constitute the essential prerequisite for the realization of fully autonomous parking. Accurate and effective detection of parking spaces is still the core problem that needs to be solved in automatic parking systems. In this study, building upon existing public parking space datasets, a comprehensive panoramic parking space dataset named PSEX (Parking Slot Extended) with complex environmental diversity was constructed by integrating the concept of GAN (Generative Adversarial Network)-based image style transfer. Meanwhile, an improved algorithm based on PP-Yoloe (Paddle-Paddle Yoloe) is used to detect the state (free or occupied) and angle (T-shaped or L-shaped) of the parking space in real-time. For the many and small labels of the parking space, the ResSpp in it is replaced by the ResSimSppf module, the SimSppf structure is introduced at the neck end, and Silu is replaced by Relu in the basic structure of the CBS (Conv-BN-SiLU), and finally an auxiliary detector head is added at the prediction head. Experimental results show that the proposed SimSppf_mepre-Yoloe model achieves an average improvement of 4.5% in mAP50 and 2.95% in mAP50:95 over the baseline PP-Yoloe across various parking space detection tasks. In terms of efficiency, the model maintains comparable inference latency with the baseline, reaching up to 33.7 FPS on the Jetson AGX Xavier platform under TensorRT optimization. And the improved enhancement algorithm can greatly enrich the diversity of parking space data. These results demonstrate that the proposed model achieves a better balance between detection accuracy and real-time performance, making it suitable for deployment in intelligent vehicle and robotic perception systems.

The automatic registration of infrared and visible images in vehicular imaging systems remains challenging in vision-assisted driving systems because of differences in imaging mechanisms. Existing registration methods often fail to accurately register infrared and visible images in vehicular imaging systems due to numerous spurious points during feature extraction, unstable feature descriptions, and low feature matching efficiency. To address these issues, a robust and efficient registration of infrared and visible images for vehicular imaging systems is proposed. In the feature extraction stage, we propose a structural similarity point extractor (SSPE) that extracts feature points using the structural similarity between weighted phase congruency (PC) maps and gradient magnitude (GM) maps. This approach effectively suppresses invalid feature points while ensuring the extraction of stable and reliable ones. In the feature description stage, we design a rotation-invariant feature descriptor (RIFD) that comprehensively describes the attributes of feature points, thereby enhancing their discriminative power. In the feature matching stage, we propose an effective coarse-to-fine matching strategy (EC2F) that improves the matching efficiency through nearest neighbor matching and threshold-based fast sample consensus (FSC), while improving registration accuracy through coordinate-based iterative optimization. Registration experiments on public datasets and a self-established dataset demonstrate the superior performance of our proposed method, and also confirm its effectiveness in real vehicular environments.

To deal with low recognition accuracy and large time-consumption for dim, small targets in a smart micro-light sight, we propose a lightweight model DS_YOLO (dim and small target detection). We introduce the adaptive channel convolution module (ACConv) to reduce computational redundancy while maximizing the utilization of channel features. To address the misalignment problem in multi-task learning, we also design a lightweight dynamic task alignment detection head (LTD_Head), which utilizes GroupNorm to improve the performance of detection head localization and classification, and shares convolutions to make the model lightweight. Additionally, to improve the network’s capacity to detect small-scale targets while maintaining its generalization to multi-scale target detection, we extract high-resolution feature map information to establish a new detection head. Ultimately, the incorporation of the attention pyramid pooling layer (SPPFLska) enhances the model’s regression accuracy. We conduct an evaluation of the proposed algorithm DS_YOLO on four distinct datasets: CityPersons, WiderPerson, DOTA, and TinyPerson, achieving a 66.6% mAP on the CityPersons dataset, a 4.3% improvement over the original model. Meanwhile, our model reduces the parameter count by 33.3% compared to the baseline model.