Robotic sensing for the partially sighted
Robotic sensing for the partially sighted
复制标题
针对弱视者的机器人传感
DOI：
10.1016/s0921-8890(98)00068-2
复制
发表时间：
1999
期刊：
影响因子：
--
通讯作者：
P. P. Smith
中科院分区：
文献类型：
--
作者：
N. Molton;Stephen Se;M. Brady;David Lee;P. P. Smith
部分视力是一种感官残疾，在某种程度上可以通过人工辅助来缓解。机器人技术中使用的许多感官方法都可以用于试图重新捕获部分失明者丢失的一些感官信息。本文介绍了一种装置，它使用声纳和立体视觉传感器的这项任务。该设备是便携式的，由用户佩戴，使他们能够在路边石，楼梯和粗糙的地面上自由移动。步行过程中的传感器运动测量使用视觉自运动恢复和里程计，并已建模，以允许补偿传感器读数。地面位置估计通过场景地平面拟合或从行走运动模型不断更新，并且用于将场景特征分类为障碍物或地面的部分。方法的鲁棒性重建图像点和线到场景的功能。对移动的人具有特殊意义的世界物体--路缘石和楼梯--的识别得到了特别的关注。还描述了一个用户界面，它经历了有限的真实的世界测试。系统的各个部分的实验结果。
Partial sightedness is a sensory disability which can to some extent be alleviated by artificial aids. Many of the sensory methods used in robotics can be applied in attempts to recapture some of the sensory information a partially sighted person has lost. This paper describes a device which uses sonar and stereo vision sensors for this task. The device is portable, and is worn by the user, giving them freedom of movement over kerbs, stairs and rough ground. Sensor motion during walking is measured using visual egomotion recovery and odometry, and has been modelled to allow compensation in the sensor readings. A ground position estimate is continually updated by scene ground-plane fitting, or from the walk-motion model, and is used to classify scene features as obstacles or parts of the ground. Methods for the robust reconstruction of image points and lines into scene features are developed. The recognition of world objects of exceptional significance to a mobile person - kerbs and stairs - is given particular attention. A user interface, which has undergone limited real world testing, is also described. Experimental results are presented for the various parts of the system.