  Obtaining the position of ego-vehicle is a crucial prerequisite for automatic
control and path planning in the field of autonomous driving. Most existing
positioning systems rely on GPS, RTK, or wireless signals, which are arduous to
provide effective localization under weak signal conditions. This paper
proposes a real-time positioning system based on the detection of the parking
numbers as they are unique positioning marks in the parking lot scene. It does
not only can help with the positioning with open area, but also run
independently under isolation environment. The result tested on both public
datasets and self-collected dataset show that the system outperforms others in
both performances and applies in practice. In addition, the code and dataset
will release later.
