An Indoor Obstacle Detection System Using Depth Information and Region Growth

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Please use this identifier to cite or link to this item: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/104568

Title:	An Indoor Obstacle Detection System Using Depth Information and Region Growth
Authors:	Huang, Hsieh-Chang;Hsieh, Ching-Tang;Yeh, Cheng-Hsiang
Keywords:	obstacle detection;Kinect;depth map;travel aid
Date:	2015-10-23
Issue Date:	2016-01-06 11:03:14 (UTC+8)
Publisher:	MDPIAG
Abstract:	This study proposes an obstacle detection method that uses depth information to allow the visually impaired to avoid obstacles when they move in an unfamiliar environment. The system is composed of three parts: scene detection, obstacle detection and a vocal announcement. This study proposes a new method to remove the ground plane that overcomes the over-segmentation problem. This system addresses the over-segmentation problem by removing the edge and the initial seed position problem for the region growth method using the Connected Component Method (CCM). This system can detect static and dynamic obstacles. The system is simple, robust and efficient. The experimental results show that the proposed system is both robust and convenient.
Relation:	Sensors 15(10), pp.27116-27141
DOI:	10.3390/s151027116
Appears in Collections:	[Graduate Institute & Department of Electrical Engineering] Journal Article

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