AN OBSTACLE DETECTION SYSTEM USING DEPTH INFORMATION AND REGION GROWING FOR VISUALLY IMPAIRED PEOPLE

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題名:	AN OBSTACLE DETECTION SYSTEM USING DEPTH INFORMATION AND REGION GROWING FOR VISUALLY IMPAIRED PEOPLE
作者:	Hsieh, Ching-Tang;Tsai, Han-Yi;Huang, Hsieh-Chang;Yeh, Cheng-Hsiang;Chen, Li-Ming
貢獻者:	Dep. of Electrical Engineering, Tamkang University
關鍵詞:	Obstacle Detection, Kinect, Depth Image
日期:	2015-07-18
上傳時間:	2015-07-27 13:58:55 (UTC+8)
出版者:	Academy of Taiwan Information Systems Research (ATISR)
摘要:	This study proposes an obstacle detection method based on depth information to aid the visually impaired people in avoiding obstacles as they move in an unfamiliar environment. Firstly, we have applied dilation of morphology and erosion of morphology to remove the crushing noise of the depth image and have used the Least Squares Method (LSM) in a quadratic polynomial to approximate floor curves and determine the floor height threshold in the V-disparity. Secondly, we have searched for dramatic changes depth value in accordance with the floor height threshold to find out suspicious stair edge points. Thirdly, we have used the Hough Transform to find out the location of the drop line. In order to strengthen the characteristics of the different objects to overcome the drawbacks of the region growing method, we have applied edge detection to remove the edge. Fourthly, we have used the floor height threshold and features of the ground to remove ground plane. And then our system has used the region growing method to label the tags on different objects. It has analyzed each object to determine whether the object is a stair. Fifthly, if the result is neither up stair nor down stair, we have used K-SVD algorithm to determine whether the object is people. Finally, the system has assisted the users to determine the stairs direction and obstacle distance through a voice prompt by Text To Speech (TTS). Experimental results show that the proposed system has great robustness and convenience.
關聯:	International Conference on Internet Studies
顯示於類別:	[電機工程學系暨研究所] 會議論文

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NETs2015_126_AN_OBSTACLE.pdf	投稿內容	390Kb	Adobe PDF	373	檢視/開啟

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