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 zh_TW
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 JPN
公開徵稿 Y
出版型式 電子版
出處 International Conference on Internet Studies
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/103466 )

機構典藏連結