教師資料查詢 | 類別: 會議論文 | 教師: 謝景棠 Hsieh Ching-tang (瀏覽個人網頁)

標題:AN OBSTACLE DETECTION SYSTEM USING DEPTH INFORMATION AND REGION GROWING FOR VISUALLY IMPAIRED PEOPLE
學年103
學期2
發表日期2015/07/18
作品名稱AN OBSTACLE DETECTION SYSTEM USING DEPTH INFORMATION AND REGION GROWING FOR VISUALLY IMPAIRED PEOPLE
作品名稱(其他語言)
著者Hsieh, Ching-Tang;Tsai, Han-Yi;Huang, Hsieh-Chang;Yeh, Cheng-Hsiang;Chen, Li-Ming
作品所屬單位Dep. of Electrical Engineering, Tamkang University
出版者Academy of Taiwan Information Systems Research (ATISR)
會議名稱International Conference on Internet Studies 2015 (NETs 2015)
會議地點Tokyo, Japan
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.
關鍵字Obstacle Detection, Kinect, Depth Image
語言中文
收錄於
會議性質國際
校內研討會地點
研討會時間20150718~20150719
通訊作者Yeh, Cheng-Hsiang
國別日本
公開徵稿Y
出版型式電子版
出處International Conference on Internet Studies
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