REPORT ON PARKING SEARCH & GUIDANCE MODULE

This module comes under the project Self Driving Car. In this module, we detect a parking lot in a
particular parking area using image processing tools such as Open CV. We also do bot detection
using Open CV to find the coordinates and the rotation angle. Major steps involved are:
1: At first we take a photograph of the centralized parking area with all the parking lots occupied
and compare a new frame taken at any time of the same parking area with the previous image by
subtracting second one from the previous one. After this, taking a particular threshold value for this
subtracted image, we get all the available parking lots in the parking area. Then the contour of each
and every lot was drawn and we calculate the centroid of every contour and it's distance from the
Start position. Then we select the lot with minimum distance from the starting position.
2:Now our aim is to find the x,y coordinate and rotation angle of the vehicle at every instant. This
task is done using ORB algorithm.
3:Now we need to guide the vehicle from its current position to parking lot which is at minimum
distance using a Bluetooth module and ultrasonic sensors so that it doesnt collide with the nearby
object. In this we will have different paths for different lots. We will have initial coordinates and
rotation angle of the vehicle with a particular axis and we will also have final coordinates and
rotation angle which will definitely depend up on the number of steps we want to run the same code
until it reaches the final point.
Timeline:
1:Parking lot detection+Vehicle coordinates detection:Till 2nd of December 2016
2:Guidance of vehicle from start to final postion:January 2017
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