Free space determination for parking slots using a 3D PMD sensor

We present an approach for parking slot detection using a 3D Range camera of PMD type. This sensor allows referring to a large number of spatial point measurements detailed representing cuts of the observed scene. The focus of this paper is on the feature extraction out of the PMD data as well as the fusion of the features defining the free space of a parking slot. The feature extraction includes reliable and exact curb detection and robust obstacle detection. The approach for the optimal feature extraction is based on the usage of an occupancy grid in combination with a feature conform definition of detection channels.