Patent ID: 11904843
Assignee: MOOVITA PTE LTD
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. An autonomous parking system for a vehicle having
a detection subsystem disposed in the vehicle comprising:
an image capture module for capturing images to provide a camera stream; and
a processor module, the processor module receives the camera stream and processes the camera stream, the processor module is configured to process image frames, wherein the processor module is configured to process a current image frame and a previous image frame of the camera stream
to identify a parking slot, wherein the processor module is configured to perform motion analysis to identify the parking slot, wherein performing the motion analysis comprises
determining apparent motion on dense optical flow of corresponding pixel pairs between the current image frame and the previous image frame,
determining perspective rectified motion (PRM) by applying a perspectivity rectified factor to the apparent motion, wherein the perspectivity rectified factor is calculated using a homography matrix generated from camera unit calibration; and
generating a motion histogram from the PRM to determine a ground motion estimation for detecting presence of obstacles,

to check the parking slot to determine if it is occupied using motion analysis, and
if unoccupied, to validate an unoccupied parking slot to determine if the unoccupied parking slot is suitable for the vehicle.