RGB-D camera Based Navigation for the Visually Impaired
RGB-D camera Based Navigation for the Visually Impaired
复制标题
针对视障人士的基于 RGB-D 摄像头的导航
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
G. Medioni
中科院分区：
文献类型：
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作者：
Young Hoon Lee;G. Medioni
我们提出了一种基于RGB-D相机的可穿戴视觉障碍导航系统。与传统的辅助设备（如白手杖）相比，该导航系统有望使视障人士能够延长活动的时间。由于本设计是对以往基于立体摄像机的系统的改进，克服了基于立体视觉系统的局限性，因此保留了系统的算法结构。为了提取盲人使用者的方向信息，我们将视觉里程法和基于特征的度量拓扑SLAM （Simultaneous Local and Mapping）结合到系统中。我们基于RGB-D相机获得的密集3D数据构建附近地图，并进行路径规划，为视障人士提供地图上的3D可穿越性。3D可穿越性分析可以帮助受试者避开路径上的障碍物。一个由四个微振动马达组成的vesttype接口提供队列，用于实时导航和避障。我们的系统工作频率为12 - 15Hz，可以帮助视障人士在混乱的环境中提高移动性能。结果表明，与基于立体视觉的系统相比，采用轻量级且经济实惠的RGB-D相机的室内环境导航性能有所提高。
We present a wearable RGB-D camera based navigation system for the visually impaired. The navigation system is expected to enable the visually impaired to extend the ran ge of their activities compared to that provided by conventional aid devices, such as white cane. Since this design is a succes sor version of a previous stereo camera based system to overcome a limitation of stereo vision based systems, algorithmic str ucture of the system is maintained. In order to extract orientational information of the blind users, we incorporate visual odometry and feature based metric-topological (Simultaneous Local ization And Mapping) SLAM into our system. We build a vicinity map based on dense 3D data obtained from RGB-D camera, and perform path planning to provide the visually impaired with 3D traversability on the map. The 3D traversability analysis helps subjects steer away from obstacles in the path. A vesttype interface consisting of four microvibration motors delivers queues for real-time navigation with obstacle avoidance. Our syst em operates at12− 15Hz, and helps the visually impaired improve the mobility performance in a cluttered environment. The results show that navigation performance in indoor environments wi th the proposed lightweight and affordable RGB-D camera improves compared to a stereo-vision based system.