Development of Walking Assistant System for Visually Impaired People Using Geomagnetic Fingerprint and Braille Block Map
Development of Walking Assistant System for Visually Impaired People Using Geomagnetic Fingerprint and Braille Block Map
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利用地磁指纹和盲文块图开发视障人士步行辅助系统
DOI：
10.1109/iccae55086.2022.9762426
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Hisashi Miyamaru
中科院分区：
文献类型：
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作者：
Koichi Kuzume;Ryosuke Nitta;Tomonari Masuzaki;Haruko Masuda;Hisashi Miyamaru
以gps为基础的导航系统已经开发出来，以支持视障人士的行走。然而，由于无线电波的干扰，它们在车站和商场的使用遇到了困难。在这样的地方，室内导航系统（IDNS）是必不可少的。最近，不需要安装新基础设施的地磁IDNS引起了我们的注意。它结合了与地磁指纹（GMFP）数据库相关联的检测自身位置的技术，其中包括预先存储在云上的当前位置的地磁矢量。然而，要实现整个楼层的导航，需要绘制详细的楼层地磁图，测量地磁场需要耗费大量的时间和人力。在这项研究中，我们提出了一种新的方法，将GMFP的区域限制在盲文块上方，并将几何地图与盲文块地图联系起来。该系统的主要特点是：(1)减少了生产GMFP所需的人力和时间；(2)实现位置估计误差小的实时导航系统；(3)在没有任何特殊设备的情况下，以几乎固定的步幅行走即可轻松获得高分辨率地磁地图数据库。为了确认系统的主要操作，我们制作了一个原型系统。然后，我们在不同的实验条件下评估了系统的性能。最后，我们演示了一个简单的导航系统。因此，我们能够确认我们的系统可以实时估计自我位置，误差很小，并为视障人士提供简单的导航。
GPS-based navigation systems have been developed to support the walking of visually impaired people. However, their use in station premises and malls presented difficulties due to radio wave interference. In such places, an indoor navigation system (IDNS) was indispensable. Recently, an IDNS using geomagnetism that did not require the installation of new infrastructure attracted our attention. It incorporated technology to detect self-position by association with a geomagnetic fingerprint (GMFP) database, which included the geomagnetic vector of the current position, stored in advance on the cloud. However, to realize navigation over an entire floor, a detailed geomagnetic map of the floor was needed, taking a lot of time and labor to measure the geomagnetic field. In this research, we proposed a novel method that limited the area of the GMFP to places above braille blocks and linked the geometric maps to braille block maps. The main features of our system were as follows: (1) Reduction of labor and time required to make the GMFP; (2) Realization of a real-time navigation system with little error in estimated position; (3) A high-resolution geomagnetic map database could be easily made by walking with a nearly fixed stride length without any specific equipment. To confirm the principal operation of our system, we made a prototype system. We then evaluated the performance of our system under various experimental conditions. Finally, we demonstrated a simple navigation system. As a result, we were able to confirm that our system could estimate self-position in real-time with little error and provide simple navigation for visually impaired people.