Aim/Purpose: Accurate detection of vacant parking spaces is crucial for autonomous parking. Deep learning, particularly Graph Neural Networks (GNNs), holds promise for addressing the challenges of diverse parking lot appearances and complex visual environments. Our GNN-based approach leverages the spatial layout of detected marking points in around-view images to learn robust feature representations that are resilient to occlusions and lighting variations. We demonstrate significant accuracy improvements on benchmark datasets compared to existing methods, showcasing the effectiveness of our GNN-based solution. Further research is needed to explore the scalability and generalizability of this approach in real-world scenarios and to consider the potential ethical implications of autonomous parking technologies. Background: GNNs offer a number of advantages over traditional parking spot detection methods. Unlike methods that treat objects as discrete entities, GNNs may leverage the inherent connections among parking markers (lines, dots) inside an image. This ability to exploit spatial connections leads to more accurate parking space detection, even in challenging scenarios with shifting illumination. Real-time applications are another area where GNNs exhibit promise, which is critical for autonomous vehicles. Their ability to intuitively understand linkages across marking sites may further simplify the process compared to traditional deep-learning approaches that need complex feature development. Furthermore, the proposed GNN model streamlines parking space recognition by potentially combining slot inference and marking point recognition in a single step. All things considered, GNNs present a viable method for obtaining stronger and more precise parking slot recognition, opening the door for autonomous car self-parking technology developments. Methodology: The proposed research introduces a novel, end-to-end trainable method for parking slot detection using bird’s-eye images and GNNs. The approach involves a two-stage process. First, a marking-point detector network is employed to identify potential parking markers, extracting features such as confidence scores and positions. After refining these detections, a marking-point encoder network extracts and embeds location and appearance information. The enhanced data is then loaded into a fully linked network, with each node representing a marker. An attentional GNN is then utilized to leverage the spatial relationships between neighbors, allowing for selective information aggregation and capturing intricate interactions. Finally, a dedicated entrance line discriminator network, trained on GNN outputs, classifies pairs of markers as potential entry lines based on learned node attributes. This multi-stage approach, evaluated on benchmark datasets, aims to achieve robust and accurate parking slot detection even in diverse and challenging environments. Contribution: The present study makes a significant contribution to the parking slot detection domain by introducing an attentional GNN-based approach that capitalizes on the spatial relationships between marking points for enhanced robustness. Additionally, the paper offers a fully trainable end-to-end model that eliminates the need for manual post-processing, thereby streamlining the process. Furthermore, the study reduces training costs by dispensing with the need for detailed annotations of marking point properties, thereby making it more accessible and cost-effective. Findings: The goal of this research is to present a unique approach to parking space recognition using GNNs and bird’s-eye photos. The study’s findings demonstrated significant improvements over earlier algorithms, with accuracy on par with the state-of-the-art DMPR-PS method. Moreover, the suggested method provides a fully trainable solution with less reliance on manually specified rules and more economical training needs. One crucial component of this approach is the GNN’s performance. By making use of the spatial correlations between marking locations, the GNN delivers greater accuracy and recall than a completely linked baseline. The GNN successfully learns discriminative features by separating paired marking points (creating parking spots) from unpaired ones, according to further analysis using cosine similarity. There are restrictions, though, especially where there are unclear markings. Successful parking slot identification in various circumstances proves the recommended method’s usefulness, with occasional failures in poor visibility conditions. Future work addresses these limitations and explores adapting the model to different image formats (e.g., side-view) and scenarios without relying on prior entry line information. An ablation study is conducted to investigate the impact of different backbone architectures on image feature extraction. The results reveal that VGG16 is optimal for balancing accuracy and real-time processing requirements. Recommendations for Practitioners: Developers of parking systems are encouraged to incorporate GNN-based techniques into their autonomous parking systems, as these methods exhibit enhanced accuracy and robustness when handling a wide range of parking scenarios. Furthermore, attention mechanisms within deep learning models can provide significant advantages for tasks that involve spatial relationships and contextual information in other vision-based applications. Recommendation for Researchers: Further research is necessary to assess the effectiveness of GNN-based methods in real-world situations. To obtain accurate results, it is important to employ large-scale datasets that include diverse lighting conditions, parking layouts, and vehicle types. Incorporating semantic information such as parking signs and lane markings into GNN models can enhance their ability to interpret and understand context. Moreover, it is crucial to address ethical concerns, including privacy, potential biases, and responsible deployment, in the development of autonomous parking technologies. Impact on Society: Optimized utilization of parking spaces can help cities manage parking resources efficiently, thereby reducing traffic congestion and fuel consumption. Automating parking processes can also enhance accessibility and provide safer and more convenient parking experiences, especially for individuals with disabilities. The development of dependable parking capabilities for autonomous vehicles can also contribute to smoother traffic flow, potentially reducing accidents and positively impacting society. Future Research: Developing and optimizing graph neural network-based models for real-time deployment in autonomous vehicles with limited resources is a critical objective. Investigating the integration of GNNs with other deep learning techniques for multi-modal parking slot detection, radar, and other sensors is essential for enhancing the understanding of the environment. Lastly, it is crucial to develop explainable AI methods to elucidate the decision-making processes of GNN models in parking slot detection, ensuring fairness, transparency, and responsible utilization of this technology.