Parking Slot Occupancy Estimation from Sparse 9-Zone LiDAR Measurements

Hugyecz, Sára and Rózsa, Zoltán and Szirányi, Tamás (2026) Parking Slot Occupancy Estimation from Sparse 9-Zone LiDAR Measurements. In: ACIVS 2026. (In Press)

Text ACIVS_ID65_cameraready.pdf - Accepted Version Restricted to Repository staff only until 31 December 2027. Download (626kB)

Abstract

This paper presents an occupancy-grid-based parking slot state estimation method for the sparse 9-zone LiDAR sensor developed in the ADSIL project. The sensor returns only the nearest 3D point in each angular zone, resulting in sparse but high-temporal-resolution measurements. To handle this sensing structure, the proposed pipeline combines a sensor-specific inverse sensor model, height filtering, temporal log-odds integration, guard-layer stabilization, and slot-level coverage evaluation. According to our experiments all of the above contribute to the complete method; producing reliable and robust parking slot occupancy estimation with low-complexity sparse LiDAR sensing making it compatible to currently available sensing solutions.

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