제목 Outdoor Travel-Aid Using Bird-eye View Virtual Camera
저자명

Qing Lin, Hernsoo Hahn, Youngjoon Han

초   록

  This paper presents a travel-aid system for sight-impaired pedestrians in outdoor environment. Unlike many existing travel-aid systems that rely on stereo-vision, the proposed system aims to detect generic obstacles in a cluttered road environment by using just the single camera attached to user’s body. To achieve this goal, the original image is re-sampled and mapped to a bird-eye view virtual plane, on which background edges are sub-sampled while obstacle edges are oversampled. Morphology filters with connected component analysis are used to enhance obstacle edges as edge-blobs with larger size, whereas sparse edges from background are filtered out. Based on the identified obstacles, safe walking areas are estimated by calculating a polar edge histogram. The algorithm is tested in different sidewalk scenes with complex pavements, and its efficiency has been confirmed.

Key Words travel-aids; monocular vision; bird-eye view re-sampling; polar edge histogram
원문 수록처 Journal of Measurement Science and Instrumentation, Vol. 3, No.3, Page 219 - 223
자료유형 International Journal