Navigation assistive system for the blind using a portable depth sensor

Yelamarthi, Kumar; Laubhan, Kevin

doi:10.1109/eit.2015.7293328

Cited by 5 publications

(3 citation statements)

References 8 publications

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“…For tactile feedback, Braille displays [20,21], haptic belts [22][23][24][25], vests [26], and gloves [27] are used. Braille displays are difficult to interpret in dynamic environments, and the other ones need a period of training for interpreting the commands adequately [22].…”

Section: Related Workmentioning

confidence: 99%

Vision‐Based System for Assisting Blind People to Wander Unknown Environments in a Safe Way

2021

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Vision is the principal source of information of the surrounding world. It facilitates our movement and development of everyday activities. In this sense, blind people have great difficulty for moving, especially in unknown environments, which reduces their autonomy and puts them at risk of suffering an accident. Electronic Travel Aids (ETAs) have emerged and provided outstanding navigation assistance for blind people. In this work, we present the methodology followed for implementing a stereo vision-based system that assists blind people to wander unknown environments in a safe way, by sensing the world, segmenting the floor in 3D, fusing local 2D grids considering the camera tracking, creating a global occupancy 2D grid, reacting to close obstacles, and generating vibration patterns with an haptic belt. For segmenting the floor in 3D, we evaluate normal vectors and orientation of the camera obtained from depth and inertial data, respectively. Next, we apply RANSAC for computing efficiently the equation of the supporting plane (floor). The local grids are fused, obtaining a global map with data of free and occupied areas along the whole trajectory. For parallel processing of dense data, we leverage the capacity of the Jetson TX2, achieving high performance, low power consumption, and portability. Finally, we present experimental results obtained with ten (10) participants, in different conditions, with obstacles of different height, hanging obstacles, and dynamic obstacles. These results show high performance and acceptance by the participants, highlighting the easiness to follow instructions and the short period of training.

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Section: Related Workmentioning

confidence: 99%

Vision‐Based System for Assisting Blind People to Wander Unknown Environments in a Safe Way

2021

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“…Target localization and tracking systems play a crucial role in several contextaware applications through providing crucial information for positioning, tracking, and navigation, where the global positioning system (GPS) is typically infeasible indoors for poor satellite reception. This led to the development of a multitude of practical applications such as indoor localization in smart buildings [33,34], navigation systems for the blind [35,36], and autonomous navigational robots [37,38].…”

Section: Localization and Objectmentioning

confidence: 99%

“…It is evident that while ODROID-XU4 has superior performance ability, the current consumption is very high in comparison with others. So, it is ideally suitable for applications where high computation performance is the primary criteria such as scanning the environment with a depth sensor on a drone or in the case of an indoor-based navigation system for the blind [36]. While BeagleBone Black consumes low current in comparison, its implementation is limited due to the challenges in support for a diverse range of sensors and actuators.…”

Section: Internet Gatewaymentioning

confidence: 99%

An Application-Driven Modular IoT Architecture

Yelamarthi

Aman

Abdelgawad

2017

Wireless Communications and Mobile Computing

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Building upon the advancements in the recent years, a new paradigm in technology has emerged in Internet of Things (IoT). IoT has allowed for communication with the surrounding environment through a multitude of sensors and actuators, yet operating on limited energy. Several researchers have presented IoT architectures for respective applications, often challenged by requiring major updates for adoption to a different application. Further, this comes with several uncertainties such as type of computational device required at the edge, mode of wireless connectivity required, methods to obtain power efficiency, and not ensuring rapid deployment. This paper starts with providing a horizontal overview of each layer in IoT architecture and options for different applications. Then it presents a broad application-driven modular architecture, which can be easily customized for rapid deployment. This paper presents the diverse hardware used in several IoT layers such as sensors, embedded processors, wireless transceivers, internet gateway, and application management cloud server. Later, this paper presents implementation results for diverse applications including healthcare, structural health monitoring, agriculture, and indoor tour guide systems. It is hoped that this research will assist the potential user to easily choose IoT hardware and software as it pertains to their respective needs.

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