This paper presents a travel-aid system for sight-impaired pedestrians in outdoor environment.Unlike many existing travel-aid systems that rely on stereo-vision,the proposed system aims to detect generic obstacles in ...This paper presents a travel-aid system for sight-impaired pedestrians in outdoor environment.Unlike many existing travel-aid systems that rely on stereo-vision,the proposed system aims to detect generic obstacles in a cluttered road environment by using just the single camera attached to user's body.To achieve this goal,the original image is re-sampled and mapped to a bird-eye view virtual plane,on which background edges are sub-sampled while obstacle edges are oversampled.Morphology filters with connected component analysis are used to enhance obstacle edges as edge-blobs with larger size,whereas sparse edges from background are filtered out.Based on the identified obstacles,safe walking areas are estimated by calculating a polar edge histogram.The algorithm is tested in different sidewalk scenes with complex pavements,and its efficiency has been confirmed.展开更多
基金The MKE(The Ministry of Knowledge Economy),Korea,under the ITRC(Infor mation Technology Research Center)support programsupervised by the NIPA(National IT Industry Promotion Agency)(NIPA-2012-(C1090-1021-0010))The Brain Korea 21 Project in 2012
文摘This paper presents a travel-aid system for sight-impaired pedestrians in outdoor environment.Unlike many existing travel-aid systems that rely on stereo-vision,the proposed system aims to detect generic obstacles in a cluttered road environment by using just the single camera attached to user's body.To achieve this goal,the original image is re-sampled and mapped to a bird-eye view virtual plane,on which background edges are sub-sampled while obstacle edges are oversampled.Morphology filters with connected component analysis are used to enhance obstacle edges as edge-blobs with larger size,whereas sparse edges from background are filtered out.Based on the identified obstacles,safe walking areas are estimated by calculating a polar edge histogram.The algorithm is tested in different sidewalk scenes with complex pavements,and its efficiency has been confirmed.
