Abstract
This paper proposes a parking line detection and self-localization method for an automatic parking system by using a camera. Goal decision and self-localization are problems for path planning. Therefore, this paper aims to solve these problems by detecting the parking line by the camera installed on the back of the vehicle. A driver only has to click a broad goal area and a part of the parking line on the camera image in the beginning of parking. Then the parking line is detected and the goal position is decided by image processing. After that, the relative car position is estimated in global coordinate system.
