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For the situation that the current automatic parking system requires a high number of sensors and computing power, this paper proposed an automatic parking system based on panoramic images and human-machine interaction. Quantitative perception training was performed on the improved Vacant Parking Slot Network (VPS-Net) to realize real-time parking slot detection and parking slot occupancy classification. At the same time, with the help of the driver’s judgment on the surrounding environment, only 4 surround-view fisheye cameras around the car body were used to complete unoccupied parking slot detection and real-time monitoring of the parking environment, and multi-stage path planning and path-following controller were utilized to realize smooth and accurate parking of the vehicle into the parking slot. The verification results show that the system can realize automatic parking under various typical parking slots and lighting conditions.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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