CPS: Synergy: Image-Based Indoor Navigation for Visually Impaired Users

严重的视力障碍和失明妨碍了许多基本的日常生活活动。其中之一是在不熟悉的室内空间独立导航，而无需有视力的同伴的帮助。我们建议开发PERCEPT-V：一种有机视觉驱动的，基于智能手机的室内导航系统，用户可以在开放空间中导航，而无需改造环境。当用户试图获得到所选目的地的导航指令时，智能手机将记录来自多个机载传感器的观测结果，以便执行用户定位。一旦估计出用户的位置和方向，它们就会用于计算用户周围的导航地标的坐标。然后，该系统可以提供所选目的地的方向，以及用户周围的地标的可选描述。我们将专注于解决室内导航系统开发中通常遇到的信息物理系统技术缺陷。更具体地说，我们的项目将在PERCEPT-V的设计中考虑以下变革性方面：（i）基于图像的室内定位和定向：PERCEPT-V将采用新的基于计算机视觉的定位算法，减少对高度控制的图像捕获和丰富信息的图像的依赖，提高盲人在拥挤环境中拍摄的图像的定位可靠性; ㈡定制导航说明：PERCEPT-V将为视力受损的用户提供定制导航说明，说明不同程度的信心和操作员能力。一项针对视障参与者的全面最终评估研究将评估我们的假设，这些假设使用严格的统计分析来推动PERCEPT-V的设计和改进。

Severe visual impairment and blindness preclude many essential activities of daily living. Among these is independent navigation in unfamiliar indoor spaces without the assistance of a sighted companion. We propose to develop PERCEPT-V: an organic vision-driven, smartphone-based indoor navigation system, in which the user can navigate in open spaces without requiring retrofit of the environment. When the user seeks to obtain navigation instructions to a chosen destination, the smartphone will record observations from multiple onboard sensors in order to perform user localization. Once the location and orientation of the user are estimated, they are used to calculate the coordinates of the navigation landmarks surrounding the user. The system can then provide directions to the chosen destination, as well as an optional description of the landmarks around the user.We will focus on addressing the cyber-physical systems technology shortcomings usually encountered in the development of indoor navigation systems. More specifically, our project will consider the following transformative aspects in the design of PERCEPT-V: (i) Image-Based Indoor Localization and Orientation: PERCEPT-V will feature new computer vision-based localization algorithms that reduce the dependence on highly controlled image capture and richly informative images, increasing the reliability of localization from images taken by blind subjects in crowded environments; (ii) Customized Navigation Instructions: PERCEPT-V will deliver customized navigation instructions for sight-impaired users that accounts for diverse levels of confidence and operator capabilities. A thorough final evaluation study featuring visually impaired participants will assess our hypotheses driving the design and refinements of PERCEPT-V using rigorous statistical analysis.