This paper proposes an efficient autonomous valet parking system utilizing only cameras which are the most widely used sensor. To capture more information instantaneously and respond rapidly to changes in the surrounding environment, fisheye cameras which have a wider angle of view compared to pinhole cameras are used. Accordingly, visual simultaneous localization and mapping is used to identify the layout of the parking lot and track the location of the vehicle. In addition, the input image frames are converted into around view monitor images to resolve the distortion of fisheye lens because the algorithm to detect edges are supposed to be applied to images taken with pinhole cameras. The proposed system adopts a look up table for real time operation by minimizing the computational complexity encountered when processing AVM images. The detection rate of each process and the success rate of autonomous parking were measured to evaluate performance. The experimental results confirm that autonomous parking can be achieved using only visual sensors.

翻译：本文建议建立一个高效的自动代用泊车系统,仅使用最广泛使用的感应器。为了立即获取更多信息并迅速应对周围环境的变化,使用了与针孔照相机相比具有更广泛视野的鱼眼照相机。因此,使用视觉同步本地化和绘图来确定停车场的布局并跟踪车辆的位置。此外,输入图像框被转换为环视监视图像,以解决鱼眼镜头的扭曲,因为检测边缘的算法应该应用到用针孔摄像机拍摄的图像上。拟议系统采用实时操作的查询表,尽量减少处理反车辆地雷图像时遇到的计算复杂性。测量每个过程的探测率和自动泊车的成功率是为了评估性能。实验结果证实,只能使用视觉传感器才能实现自动泊车。