Wearable RGBD Indoor Navigation System for the Blind
Wearable RGBD Indoor Navigation System for the Blind
复制标题
可穿戴式 RGBD 盲人室内导航系统
DOI：
10.1007/978-3-319-16199-0_35
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发表时间：
2014
期刊：
影响因子：
--
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
在本文中，我们提出了一种新的可穿戴RGBD相机为基础的视觉障碍导航系统。该系统由智能手机用户界面、安装在眼镜上的RGBD相机设备、实时导航算法和触觉反馈系统组成。智能手机界面提供了一种使用音频和触觉反馈与系统进行通信的有效方式。为了提取盲人用户的方位信息，导航算法使用安装在眼镜上的RGBD相机作为输入设备执行实时6-DOF基于特征的视觉里程计。导航算法还构建了环境的3D体素图，并分析了3D可通行性。导航算法的路径规划器集成来自自运动估计和映射的信息，并生成到传递到触觉反馈系统的航路点的安全且有效的路径。触觉反馈系统由四个微振动电机组成，旨在引导视障用户沿着计算路径，并尽量减少认知负荷。该系统在笔记本电脑上实现了平均为Hz的实时性能，并帮助视障人士扩展他们的活动范围，提高在混乱环境中的移动性能。实验结果表明，在室内环境中的导航与所提出的系统成功地避免了碰撞，提高了移动性能的用户相比，传统的和国家的最先进的移动辅助设备。
In this paper, we present a novel wearable RGBD camera based navigation system for the visually impaired. The system is composed of a smartphone user interface, a glass-mounted RGBD camera device, a real-time navigation algorithm, and haptic feedback system. A smartphone interface provides an effective way to communicate to the system using audio and haptic feedback. In order to extract orientational information of the blind users, the navigation algorithm performs real-time 6-DOF feature based visual odometry using a glass-mounted RGBD camera as an input device. The navigation algorithm also builds a 3D voxel map of the environment and analyzes 3D traversability. A path planner of the navigation algorithm integrates information from the egomotion estimation and mapping and generates a safe and an efficient path to a waypoint delivered to the haptic feedback system. The haptic feedback system consisting of four micro-vibration motors is designed to guide the visually impaired user along the computed path and to minimize cognitive loads. The proposed system achieves real-time performance atHz in average on a laptop, and helps the visually impaired extends the range of their activities and improve the mobility performance in a cluttered environment. The experiment results show that navigation in indoor environments with the proposed system avoids collisions successfully and improves mobility performance of the user compared to conventional and state-of-the-art mobility aid devices.