A Stereo Vision-Based Aid for the Visually-Impaired
This paper describes a portable vision-based obstacle detection
system, intended for use by blind people. The system combines an obstacle
detection system designed for AGVs with
recalibration of ground position and a Kalman Filter based model of
the person's walking movement. The system uses stereo vision. Obstacle
detection is achieved through comparison of the disparity seen with
that expected from the position of the ground. Recalibration of ground
position is made by plane fitting in the ground region.
Motion estimation using two visual methods and the
use of an inclinometer is described. The results show satisfactory
success in all parts of the system.