Obstacle detection and avoidance on sidewalks

Castells, David Elizalde; Rodrigues, J. M. F.; du Buf, J. M. H.

Publication

Obstacle detection and avoidance on sidewalks

2010Conference object

dc.contributor.author	Castells, David Elizalde
dc.contributor.author	Rodrigues, J. M. F.
dc.contributor.author	du Buf, J. M. H.
dc.date.accessioned	2011-12-06T14:46:57Z
dc.date.available	2011-12-06T14:46:57Z
dc.date.issued	2010
dc.date.updated	2011-12-05T17:06:32Z
dc.description.abstract	We present part of a vision system for blind and visually impaired people. It detects obstacles on sidewalks and provides guidance to avoid them. Obstacles are trees, light poles, trash cans, holes, branches, stones and other objects at a distance of 3 to 5 meters from the camera position. The system first detects the sidewalk borders, using edge information in combination with a tracking mask, to obtain straight lines with their slopes and the vanishing point. Once the borders are found, a rectangular window is defined within which two obstacle detection methods are applied. The first determines the variation of the maxima and minima of the gray levels of the pixels. The second uses the binary edge image and searches in the vertical and horizontal histograms for discrepancies of the number of edge points. Together, these methods allow to detect possible obstacles with their position and size, such that the user can be alerted and informed about the best way to avoid them. The system works in realtime and complements normal navigation with the cane.	por
dc.identifier.citation	Castells, D.; Rodrigues, J.M.F.; du Buf, J.M.H. Obstacle detection and avoidance on sidewalks, Trabalho apresentado em VISAPP 2010, In Proc. Int. Conf. on Computer Vision Theory and Applications (VISAPP 2010), Angers, France, 2010.	por
dc.identifier.other	AUT: JRO00913; DUB00865;
dc.identifier.uri	http://hdl.handle.net/10400.1/886
dc.language.iso	eng	por
dc.peerreviewed	no	por
dc.subject	Visão computacional	por
dc.title	Obstacle detection and avoidance on sidewalks	por
dc.type	conference object
dspace.entity.type	Publication
oaire.awardURI	info:eu-repo/grantAgreement/FCT/3599-PPCDT/PTDC%2FEIA%2F73633%2F2006/PT
oaire.fundingStream	3599-PPCDT
person.familyName	Rodrigues
person.familyName	du Buf
person.givenName	Joao
person.givenName	Hans
person.identifier.ciencia-id	8A19-98F7-9914
person.identifier.orcid	0000-0002-3562-6025
person.identifier.orcid	0000-0002-4345-1237
person.identifier.rid	M-5125-2013
person.identifier.scopus-author-id	55807461600
person.identifier.scopus-author-id	6604075916
project.funder.identifier	http://doi.org/10.13039/501100001871
project.funder.name	Fundação para a Ciência e a Tecnologia
rcaap.rights	openAccess	por
rcaap.type	conferenceObject	por
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