Next Article in Journal
A Selective Overview of Skew-Elliptical and Related Distributions and of Their Applications
Previous Article in Journal
A Fuzzy Multi-Criteria Analysis of Barriers and Policy Strategies for Small and Medium Enterprises to Adopt Green Innovation
Open AccessArticle

Combining Obstacle Avoidance and Visual Simultaneous Localization and Mapping for Indoor Navigation

Department of Computer Engineering, Inha University, 100 Inha-Ro, Nam Gu, Incheon 402-751, Korea
*
Author to whom correspondence should be addressed.
Symmetry 2020, 12(1), 119; https://doi.org/10.3390/sym12010119
Received: 7 October 2019 / Revised: 3 December 2019 / Accepted: 9 December 2019 / Published: 7 January 2020
People with disabilities (PWD) face a number of challenges such as obstacle avoidance or taking a minimum path to reach a destination while travelling or taking public transport, especially in airports or bus stations. In some cases, PWD, and specifically visually impaired people, have to wait longer to overcome these situations. In order to solve these problems, the computer-vision community has applied a number of techniques that are nonetheless insufficient to handle these situations. In this paper, we propose a visual simultaneous localization and mapping for moving-person tracking (VSLAMMPT) method that can assist PWD in smooth movement by knowing a position in an unknown environment. We applied expected error reduction with active-semisupervised-learning (EER–ASSL)-based person detection to eliminate noisy samples in dynamic environments. After that, we applied VSLAMMPT for effective smoothing, obstacle avoidance, and uniform navigation in an indoor environment. We analyze the joint approach symmetrically and applied the proposed method to benchmark datasets and obtained impressive performance. View Full-Text
Keywords: SLAM; obstacle avoidance; depth estimation; object detection SLAM; obstacle avoidance; depth estimation; object detection
Show Figures

Figure 1

MDPI and ACS Style

Jin, S.; Ahmed, M.U.; Kim, J.W.; Kim, Y.H.; Rhee, P.K. Combining Obstacle Avoidance and Visual Simultaneous Localization and Mapping for Indoor Navigation. Symmetry 2020, 12, 119.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop