제목 Top-View-Based Guidance for Blind People Using Directional Ellipse Model
저자명

Qing Lin, Hernsoo Hahn, Youngjoon Han*

초   록

  The guidance system proposed in this paper aims to complement the white cane by monitoring road
conditions in a medium range for blind pedestrians in real time. The system prototype employs only one
webcam fixed at the waist of user. One of the main difficulties of using a single camera in outdoor obstacle
detection is the discrimination of obstacles from a complex background. To solve this problem, this paper
re-formulates top-view mapping as an inhomogeneous re-sampling process, so that background edges are subsampled while obstacle edges are oversampled in the topview domain. Morphology filters are then used to
enhance obstacle edges as edge-blobs, which are further represented using a directional ellipse as a new model for obstacle classification. Based on the identified obstacles, safe walking area is estimated by tracking a polar edgeblob histogram. To transfer the information obtained from image domain to language domain, this paper
proposes a verbal message generation scheme based on fuzzy logic. The efficiency of the system is confirmed by
testing the system with visually impaired people on outdoor pedestrian paths.



원문 수록처 International Journal of Advanced Robotic Systems, vol 10, pp 1~13
자료유형 International Journal