A parking slot detection method and system includes receiving a plurality of images taken from a plurality of cameras mounted on a vehicle in a parking environment; generating a top view image comprising a surrounding view of the vehicle based on the plurality of images; processing the top view image using a parking line detection model that has been trained using an annotated dataset to detect parking lines for a parking slot in the parking environment, estimate a bounding box for the parking slot and identify an occupancy state of the parking slot; and converting pixel coordinate information of the bounding box to vehicle information.