Expanding the Detection of Traversable Area with RealSense for the Visually Impaired.
Expanding the Detection of Traversable Area with RealSense for the Visually Impaired.
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DOI：
10.3390/s16111954
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发表时间：
2016-11-21
期刊：
影响因子：
--
通讯作者：
Bai J
中科院分区：
文献类型：
--
作者：
Yang K;Wang K;Hu W;Bai J
将RGB-Depth （RGB-D）传感器引入视障人士（VIP）辅助领域引起了许多研究者的极大兴趣。然而，RGB-D传感器的探测范围受限于较窄的景深角和距离上稀疏的深度图，阻碍了更广泛、更长的可穿越性感知。本文提出了一种基于RGB-D传感器Intel RealSense R200的扩展可穿越区域检测的有效方法，该传感器兼容室内和室外环境。采用红外图像大规模匹配和RGB图像引导滤波对RealSense深度图像进行增强。通过随机样本一致性（RANSAC）分割和表面法向量估计，初步获得了可穿越区域。结合深度图像和RGB图像的种子生长区域算法，极大地扩大了初步可遍历区域。这不仅对避开近距离障碍物很重要，而且对导航时的路径规划也很重要。所提出的方法已经在室内和室外场景中进行了测试。此外，该方法已集成到辅助系统中，该系统由可穿戴原型和音频接口组成。此外，通过对8名视障志愿者的现场测试，证明了该方法的有效性和可靠性。
The introduction of RGB-Depth (RGB-D) sensors into the visually impaired people (VIP)-assisting area has stirred great interest of many researchers. However, the detection range of RGB-D sensors is limited by narrow depth field angle and sparse depth map in the distance, which hampers broader and longer traversability awareness. This paper proposes an effective approach to expand the detection of traversable area based on a RGB-D sensor, the Intel RealSense R200, which is compatible with both indoor and outdoor environments. The depth image of RealSense is enhanced with IR image large-scale matching and RGB image-guided filtering. Traversable area is obtained with RANdom SAmple Consensus (RANSAC) segmentation and surface normal vector estimation, preliminarily. A seeded growing region algorithm, combining the depth image and RGB image, enlarges the preliminary traversable area greatly. This is critical not only for avoiding close obstacles, but also for allowing superior path planning on navigation. The proposed approach has been tested on a score of indoor and outdoor scenarios. Moreover, the approach has been integrated into an assistance system, which consists of a wearable prototype and an audio interface. Furthermore, the presented approach has been proved to be useful and reliable by a field test with eight visually impaired volunteers.
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影响因子：
4.5
作者：
Chessa, Manuela;Noceti, Nicoletta;Zini, Luca
通讯作者：
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DOI：
10.3390/s121217476
发表时间：
2012-12-17
期刊：
Sensors (Basel, Switzerland)
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DOI：
10.3390/s120912405
发表时间：
2012-09-12
期刊：
Sensors (Basel, Switzerland)
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作者：
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