Abstract
Limited urban parking space combined with urbanization has necessitated the development of smart parking systems that can communicate the availability of parking slots to the end-users. Towards this, various deep learning based solutions using convolutional neural networks have been proposed for parking space occupation detection. Though these approaches are robust to partial obstructions and lighting conditions, their performance is found to degrade in the presence of haze conditions. Looking in this direction, this paper investigates the use of dehazing networks that improves the performance of parking space occupancy classifier under hazy conditions. Additionally, training procedures are proposed for dehazing networks to maximize the performance of the system under both hazy and non-hazy conditions. The proposed system is deployable as part of existing smart parking systems, where a limited number of cameras are used to monitor hundreds of parking spaces. To validate our approach, we have developed a custom hazy parking system dataset from real-world task-driven test set of RESIDE-β dataset. The proposed approach is tested against existing state-of-the-art parking space detectors on CNRPark-EXT and hazy parking system datasets. Experimental results indicate a significant accuracy improvement of the proposed approach on the hazy parking system dataset.
Similar content being viewed by others
Data Availability
The dataset generated during and/or analysed during the current study is available from the corresponding author on reasonable request.
Notes
Smart Parking Market worth 5.25 Billion USD by 2021. https://www.marketsandmarkets.com/PressReleases/smart-parking.asp
“Beijing realtime weather photos,” http://goo.gl/svzxLm.
Chollet, Franccois et al. “Keras.” https://keras.io. (2015).
References
Ajchariyavanich C, Limpisthira T, Chanjarasvichai N, Jareonwatanan T, Phongphanpanya W, Wareechuensuk S, Srichareonkul S, Tachatanitanont S, Ratanamahatana C, Prompoon N, Pipattanasomporn M (2019) Park king: an iot-based smart parking system. In: 2019 IEEE International Smart Cities Conference (ISC2). https://doi.org/10.1109/ISC246665.2019.9071721, pp 729–734
Akhtar Z U A, Wang H (2020) Wifi-based driver’s activity recognition using multi-layer classification. Neurocomputing 405:12–25
Al-Turjman F, Malekloo A (2019) Smart parking in iot-enabled cities: a survey. Sustain Cities Soc 49:101608
Ali G, Ali T, Irfan M, Draz U, Sohail M, Glowacz A, Sulowicz M, Mielnik R, Faheem Z B, Martis C (2020) Iot based smart parking system using deep long short memory network. Electronics, 9
Almeida P, Oliveira L S, Silva E, Britto A, Koerich A (2013) Parking space detection using textural descriptors. In: 2013 IEEE International conference on systems, man, and cybernetics, IEEE, pp 3603–3608
Alshdadi A A (2021) Cyber-physical system with iot-based smart vehicles. Soft Comput, 1–13
Amato G, Carrara F, Falchi F, Gennaro C, Meghini C, Vairo C (2017) Deep learning for decentralized parking lot occupancy detection. Expert Syst Appl 72:327–334
Amato G, Carrara F, Falchi F, Gennaro C, Vairo C (2016) Car parking occupancy detection using smart camera networks and deep learning. In: 2016 IEEE Symposium on Computers and Communication (ISCC), IEEE, pp 1212–1217
Anagnostopoulos T, Fedchenkov P, Tsotsolas N, Ntalianis K, Zaslavsky A, Salmon I (2020) Distributed modeling of smart parking system using lstm with stochastic periodic predictions. Neural Comput Appl 32:10783–10796
Barriga J J, Sulca J, León J L, Ulloa A, Portero D, Andrade R, Yoo S G (2019) Smart parking: a literature review from the technological perspective. Appl Sci 9:4569
Bura H, Lin N, Kumar N, Malekar S, Nagaraj S, Liu K (2018) An edge based smart parking solution using camera networks and deep learning. In: 2018 IEEE International Conference on Cognitive Computing (ICCC), IEEE, pp 17–24
Cai B, Xu X, Jia K, Qing C, Tao D (2016) Dehazenet: an end-to-end system for single image haze removal. IEEE Trans Image Process 25:5187–5198
Chen C, Liu B, Wan S, Qiao P, Pei Q (2021) An edge traffic flow detection scheme based on deep learning in an intelligent transportation system. IEEE Trans Intell Transp Syst 22:1840–1852
Chippalkatti P, Kadam G, Ichake V (2018) I-spark: Iot based smart parking system. In: 2018 International Conference On Advances in Communication and Computing Technology (ICACCT). https://doi.org/10.1109/ICACCT.2018.8529541, pp 473–477
Choi J, Min K, Lee Y (2014) An intelligent parking platform of neighborhood ev for autonomous mobility service. Multimedia Tools and Applications, 74
Cueva-Fernandez G, Espada J P, García-Díaz V, Gonzalez-Crespo R (2015) Fuzzy decision method to improve the information exchange in a vehicle sensor tracking system. Appl Soft Comput 35:708–716
De Almeida Paulo RL, Oliveira L S, Britto A S Jr, Silva E J Jr, Koerich A L (2015) Pklot–a robust dataset for parking lot classification. Expert Syst Appl 42:4937–4949
Dhillon A, Verma G K (2020) Convolutional neural network: a review of models, methodologies and applications to object detection. Progress Artif Intell 9:85–112
Diaz Ogás M G, Fabregat R, Aciar S (2020) Survey of smart parking systems. Appl Sci 10:3872
Girshick R, Donahue J, Darrell T, Malik J (2014) Rich feature hierarchies for accurate object detection and semantic segmentation. In: Proceedings of the IEEE conference on computer vision and pattern recognition, pp 580–587
Giuffrè T, Siniscalchi S M, Tesoriere G (2012) A novel architecture of parking management for smart cities. Procedia Soc Behav Sci 53:16–28
Gkolias K, Vlahogianni E I (2018) Convolutional neural networks for on-street parking space detection in urban networks. IEEE Trans Intell Transp Syst 20:4318–4327
González-Lozoya S M, de la Calleja J, Pellegrin L, Escalante H J, Medina MA, Benitez-Ruiz A et al (2020) Recognition of facial expressions based on cnn features. Multimed Tools Applic 79:13987–14007
Guo Y, Liu Y, Bakker E M, Guo Y, Lew M S (2018) Cnn-rnn: a large-scale hierarchical image classification framework. Multimed Tools Applic 77:10251–10271
He K, Sun J, Tang X (2010) Single image haze removal using dark channel prior. IEEE Trans Pattern Anal Mach Intell 33:2341–2353
Huang F, Qi X, Li C, Hu W (2020) Aerial image classification by learning quality-aware spatial pyramid model. Futur Gener Comput Syst 111:271–277
Idris MYI, Tamil EM, Noor NM, Razak Z, Fong KW (2009) Parking guidance system utilizing wireless sensor network and ultrasonic sensor. Inf Technol J 8:138–146
Jia Y, Shelhamer E, Donahue J, Karayev S, Long J, Girshick R, Guadarrama S, Darrell T (2014) Caffe: Convolutional architecture for fast feature embedding. In: Proceedings of the 22nd ACM international conference on multimedia, pp 675–678
Khalid M, Wang K, Aslam N, Cao Y, Ahmad N, Khan M K (2020) From smart parking towards autonomous valet parking: a survey, challenges and future works. J Netw Comput Appl, 102935
Khanna A, Anand R (2016) Iot based smart parking system. In: 2016 International Conference on Internet of Things and Applications (IOTA), IEEE, pp 266–270
Kianpisheh A, Mustaffa N, Limtrairut P, Keikhosrokiani P (2012) Smart parking system (sps) architecture using ultrasonic detector. Int J Softw Eng Applic 6:55–58
Krizhevsky A, Sutskever I, Hinton G E (2012) Imagenet classification with deep convolutional neural networks. Advances in Neural Information Processing Systems, 25
Krizhevsky A, Sutskever I, Hinton G E (2012) Imagenet classification with deep convolutional neural networks. Adv Neural Inform Process Syst 25:1097–1105
LeCun Y, et al. (2015) Lenet-5, convolutional neural networks. http://yann.lecun.com/exdb/lenet 20: 14
Li B, Peng X, Wang Z, Xu J, Feng D (2017) Aod-net: all-in-one dehazing network. In: Proceedings of the IEEE international conference on computer vision, pp 4770–4778
Li B, Ren W, Fu D, Tao D, Feng D, Zeng W, Wang Z (2018) Benchmarking single-image dehazing and beyond. IEEE Trans Image Process 28:492–505
Lin T, Rivano H, Le Mouël F (2017) A survey of smart parking solutions. IEEE Trans Intell Transp Syst 18:3229–3253
Liu F, Shen C, Lin G, Reid I (2015) Learning depth from single monocular images using deep convolutional neural fields. IEEE Trans Pattern Anal Mach Intell 38:2024–2039
Liu X, Ma Y, Shi Z, Chen J (2019) Griddehazenet: attention-based multi-scale network for image dehazing. In: Proceedings of the IEEE/CVF international conference on computer vision, pp 7314–7323
Liu J, Liu Z, Zhang H, Yuan H, Manokaran K B, Maheshwari M (2021) Multi-sensor information fusion for iot in automated guided vehicle in smart city. Soft Comput, 1–13
Mago N, Kumar S, Goyal L M (2021) Real time fuzzy based intelligent parking detection system using deep learning techniques. Int J Fuzzy Syst, 1–9
McCartney E J (1976) Optics of the atmosphere: scattering by molecules and particles. New York
Màrmol Soley E, Sevillano X (2016) Quickspot: a video analytics solution for on-street vacant parking spot detection. Multimed Tools Applic 75:17711–17743
Narasimhan S G, Nayar S K (2000) Chromatic framework for vision in bad weather. In: Proceedings IEEE conference on computer vision and pattern recognition. CVPR 2000 (Cat. No. PR00662), vol 1, IEEE, pp 598–605
Narasimhan S G, Nayar S K (2002) Vision and the atmosphere. Int J Comput Vis 48:233–254
Naufal A, Fatichah C, Suciati N (2020) Preprocessed mask rcnn for parking space detection in smart parking systems. Int J Intell Eng Syst 13:255–65
Nurullayev S, Lee S-W (2019) Generalized parking occupancy analysis based on dilated convolutional neural network. Sensors 19:277
Nyambal J, Klein R (2017) Automated parking space detection using convolutional neural networks. In: 2017 Pattern Recognition Association of South Africa and Robotics and Mechatronics (PRASA-RobMech), IEEE, pp 1–6
Rahman M, Islam M, Sassi R, Aktaruzzaman M, et al. (2019) Convolutional neural networks performance comparison for handwritten bengali numerals recognition. SN Appl Sci 1:1–11
Ramasamy M, Solanki S G, Natarajan E, Keat T M (2018) Iot based smart parking system for large parking lot. In: 2018 IEEE 4th International Symposium in Robotics and Manufacturing Automation (ROMA), pp 1–4
Ren W, Liu S, Zhang H, Pan J, Cao X, Yang M-H (2016) Single image dehazing via multi-scale convolutional neural networks. In: European conference on computer vision, Springer, pp 154–169
Ren W, Ma L, Zhang J, Pan J, Cao X, Liu W, Yang M-H (2018) Gated fusion network for single image dehazing. In: Proceedings of the IEEE conference on computer vision and pattern recognition, pp 3253–3261
Ren Z, Lai J, Wu Z, Xie S (2021) Deep neural networks-based real-time optimal navigation for an automatic guided vehicle with static and dynamic obstacles. Neurocomputing 443:329–344
Saharan S, Kumar N, Bawa S (2020) An efficient smart parking pricing system for smart city environment: a machine-learning based approach. Futur Gener Comput Syst 106:622–640
Šćekić Z, Čakić S, Popović T, Jakovljević A (2022) Image-based parking occupancy detection using deep learning and faster r-cnn. In: 2022 26th International Conference on Information Technology (IT), IEEE, pp 1–5
Shoup D C (2006) Cruising for parking. Transp Polic 13:479–486
Simonyan K, Zisserman A (2014) Very deep convolutional networks for large-scale image recognition. arXiv:1409.1556
Szegedy C, Ioffe S, Vanhoucke V, Alemi A A (2017) Inception-v4, inception-resnet and the impact of residual connections on learning. In: Thirty-first AAAI conference on artificial intelligence
Targ S, Almeida D, Lyman K (2016) Resnet in resnet: generalizing residual architectures. arXiv:1603.08029
True N (2007) Vacant parking space detection in static images. https://cseweb.ucsd.edu/classes/wi07/cse190-a/reports/ntrue.pdf
Wang Z, Ma Y (2021) Detection and recognition of stationary vehicles and seat belts in intelligent internet of things traffic management system. Neural Comput Appl, 1–10
Wang Z, Deng Z, Wang S (2016) Accelerating convolutional neural networks with dominant convolutional kernel and knowledge pre-regression. In: Leibe B, Matas J, Sebe N, Welling M (eds) Computer Vision – ECCV 2016. Springer International Publishing, Cham, pp 533–548
Wu H, Pang G K-H, Choy K L, Lam H Y (2018) Dynamic resource allocation for parking lot electric vehicle recharging using heuristic fuzzy particle swarm optimization algorithm. Appl Soft Comput 71:538–552
Xiang X, Lv N, Zhai M, El Saddik A (2017) Real-time parking occupancy detection for gas stations based on haar-adaboosting and cnn. IEEE Sens J 17:6360–6367
Xu Y, Wei M (2021) Multi-view clustering toward aerial images by combining spectral analysis and local refinement. Futur Gener Comput Syst 117:138–144
Zhu Q, Mai J, Shao L (2015) A fast single image haze removal algorithm using color attenuation prior. IEEE Trans Image Process 24:3522–3533
Zhu L, Yu F R, Wang Y, Ning B, Tang T (2018) Big data analytics in intelligent transportation systems: a survey. IEEE Trans Intell Transp Syst 20:383–398
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of Interest
No potential conflict of interest was reported by the authors.
Additional information
Publisher’s note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
Springer Nature or its licensor holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.
About this article
Cite this article
Satyanath, G., Sahoo, J.K. & Roul, R.K. Smart parking space detection under hazy conditions using convolutional neural networks: a novel approach. Multimed Tools Appl 82, 15415–15438 (2023). https://doi.org/10.1007/s11042-022-13958-x
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11042-022-13958-x