Rethinking Parking Slot Detection with Rotated Bounding Box

Parking slot detection is an essential yet challenging task in the field of self-driving perception. During parking, vehicles often block part of the parking slots which makes the corners occluded. In addition, due to the impact of the external environment, the corners of the parking slot may be blurred. Existing parking slot detection algorithms based on parking slot markings are sensitive to the corners of the parking slots, which makes it difficult to cope with the above scenario. To address this problem, we propose a parking slot entrance line detection algorithm called RPSED, which is the first to apply rotating object detection to the parking slot entrance line. RPSED takes a different route from traditional corner detection methods by focusing on the entrance lines of parking slots to grasp the intricate geometric details inherent to parking slots, which solves the problem that existing parking slot detection algorithms cannot detect parking slots with blurred corners. To further improve the precision and recall of the model and make the model more generalizable, we propose a model ensemble strategy to match and select the results of multiple models. Moreover, we propose two manually optimized parking slot dataset named RPS2.0 and RPSV, which adds more annotations with obstructed corners or obscured configurations to the datasets ps2.0 and psv, making the model evaluation more reasonable and realistic. Experimental results on the RPS2.0 and RPSV benchmarks demonstrate the superiority of our approach compared to existing state-of-the-art methods.