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It is extremely difficult for visually impaired people to walk in strange places, because it is extremely challenging for them to know where they are, the direction in which to move, and the destination. Pedestrian navigation systems such as Google Maps have become popular as a result of the evolution and popularization of smartphones and portable tablet devices. However, it is difficult for visually...
On-going progressions of Information Technology increase the scope for computer vision-based interventions to facilitate efficient and promising technology for people with disabilities. This project aims to develop a wearable navigational assistive device, titled EyeVista, to facilitate visually impaired sprint athletes. It is a lightweight, easy-to-use, customizable and low-cost wearable jacket built-in...
Obstacle detection and avoidance is playing very important role in field of mobile robot navigation, space exploration and automation industries for safety of robot. In this study paper we are proposing a real time obstacle detection and avoidance algorithm using passive stereoscopic Kinect camera. The basic idea behind the obstacle detection method is to find a depth map of image captured by Kinect...
Obstacle detection (OD) techniques for collision avoidance applications in automobiles and unmanned aerial vehicles have been of research interest in the recent years. This technical idea is transferred to develop a local navigation system for the visually impaired individuals which is the focus of this paper. Several types of equipment and approaches namely sensors, Computer Vision (CV) methods,...
Computer vision is the area of imitation of biological vision system using computer algorithms and technologies. One of the main usages of this innovative technology is for navigation. Some of the cardinal and challenging parts in navigation are recognition of safe routes and distinguishing them from obstacles. In this paper an innovative algorithm is described and developed for this purpose. This...
In this paper, a Smart Assistive Navigation System for Blind and Visually Impaired Individuals is designed and implemented to secure a safe and low-cost navigation. Blind navigation systems are many, but very few are those that are completely successful in addressing the requirements of blind individuals to navigate safely, comfortably, and independently. Thus, some projects of the state-of-the-art...
The visually impaired people lack visual information to realize the obstructions and obstacles in their path thus making it difficult for them to perform their day-to-day tasks comfortably and efficiently. Digital assistance techniques have proven to be a boon for these visually challenged sections of the society. Detection of an obstacle free-path for an easier and smooth navigation of visually impaired...
This paper presents the criteria for classification of the existing techniques for the development of navigation aid for the visually impaired people. Digital assistance for the visually impaired people to navigate easily even during the presence of static and moving obstacles has been a food for research over the years. The motivation for the current work is the development of a smart hearing aid...
Visual navigation is an important research field in robotics due to low cost of cameras and the good results that these systems usually achieve. This paper presents monocular and stereo vision-based detection methods. The obstacles are detected and fused through the Dempster-Shafer theory for generating a cloud of points that contains the probability of the existence of obstacles in the environment...
In an unstructured environment, there are many challenges for obstacle detection. This paper presents an improved method to detect obstacles based on stereo vision in unstructured environments based on salient obstacle extraction. This method can achieve same or higher level of accuracy of obstacle detection compared to the existing salient obstacle detection with significant reduction of computation...
Vision is a vital cue for human navigation. Thus, visually impaired people encounter many challenges in day-today travelling. Identifying and avoiding obstacles in the environment is the most crucial among them. To empower blind navigation, numerous electronic travel aids were created in the past few decades, by using various obstacle sensing technologies such as sonar, infrared, and stereo vision...
This paper presents an obstacle detection and avoidance of mobile robot using stereo camera for indoor environment. Block matching algorithm is solved the correspondence problem occurred in comparing stereo images (left and right sensors of the camera). The algorithm uses Sum of Absolute Differences (SAD). Left image works as a reference block to the right image and the output is disparity mapping...
This paper presents a novel method for real-time obstacle detection and recognition in natural terrain for a field mobile robot using a image information, geometric information and support vector machine(SVM). Firstly, the scene is divided into two distinct regions: interest regions and uninterested regions. Then detected obstacle points are clustered into objects on the basis of their geometric information,...
The research presented introduces a new methodology to infer environment structure and robot localization by using a monocular machine vision system. The local field of view is constrained to the vicinity of the mobile robot in order to accomplish with robust navigation issues. The strategy proposed uses optical flow techniques and planar models to obtain qualitative 3D information and robot localization...
We present an innovative path following system based upon multi-camera visual odometry and visual landmark matching. This technology enables reliable mobile robot navigation in real world scenarios including GPS-denied environments both indoors and outdoors. We recover paths in full 3D, making it applicable to both on and off-road ground vehicles. Our controller relies on pose updates from visual...
This paper presents the solution of stereo correspondence problem occur in comparing stereo images on stereo vision mobile robot using block matching algorithm. The algorithm is using Sum of Absolute Differences (SAD). Left image works as a reference block to the right image and the output is disparity mapping with the left coordinate system. The stereo vision baseline is based on horizontal configuration...
We present a light-weight, cheap and low-power, wearable system for assisting the visually impaired in performing routine mobility tasks. Our system extends the range of the white cane by providing the user with vibro-tactile cues corresponding to the location of obstacles and a safe path for traversal through a cluttered environment. The presented approach keeps cognitive load to a minimum, and while...
Stereo vision system is a practical method for depth gathering of objects and features in an environment. This paper presents the disparity mapping for navigation of stereo vision autonomous guided vehicle using block matching algorithm. The stereo vision baseline is based on horizontal configuration. The block matching technique is briefly described with the performance of its output. The disparity...
This paper describes an EEG-based human brain-actuated robotic system, which allows performing navigation and visual exploration tasks between remote places via Internet, using only brain activity. In operation, two teleoperation modes can be combined: robot navigation and camera exploration. In both modes, the user faces a real-time video captured by the robot camera merged with augmented reality...
3D map building is an important task of autonomous land vehicle (ALV) for obstacle detection, path planning. Traditional methods using stereo vision usually relies on dense disparity map obtained by stereo matching, and 3D map is built based on the disparity map. Traditional methods are sensitive to mismatch pixels in disparity map, and dense stereo matching increases lots of unnecessary computation...
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