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Sensors 2015, 15(10), 27116-27141;

An Indoor Obstacle Detection System Using Depth Information and Region Growth

Department of Information Technology, Lee-Ming Institute of Technology, New Taipei City 24346, Taiwan
Department of Electrical Engineering, Tamkang University, New Taipei City 25137, Taiwan
Author to whom correspondence should be addressed.
Academic Editor: Gonzalo Pajares Martinsanz
Received: 16 June 2015 / Revised: 14 September 2015 / Accepted: 9 October 2015 / Published: 23 October 2015
(This article belongs to the Special Issue Imaging: Sensors and Technologies)


This study proposes an obstacle detection method that uses depth information to allow the visually impaired to avoid obstacles when they move in an unfamiliar environment. The system is composed of three parts: scene detection, obstacle detection and a vocal announcement. This study proposes a new method to remove the ground plane that overcomes the over-segmentation problem. This system addresses the over-segmentation problem by removing the edge and the initial seed position problem for the region growth method using the Connected Component Method (CCM). This system can detect static and dynamic obstacles. The system is simple, robust and efficient. The experimental results show that the proposed system is both robust and convenient. View Full-Text
Keywords: obstacle detection; Kinect; depth map; travel aid obstacle detection; Kinect; depth map; travel aid

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Huang, H.-C.; Hsieh, C.-T.; Yeh, C.-H. An Indoor Obstacle Detection System Using Depth Information and Region Growth. Sensors 2015, 15, 27116-27141.

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