Search Results (7)

This study proposes an eXtended Reality (XR) glasses-based walking assistance system to support independent and safe outdoor walking for visually impaired people. The system leverages the YOLOv8n deep learning model to recognize walkable areas, public transport facilities, and obstacles in real time and provide appropriate guidance to the user. The core components of the system are Xreal Light Smart Glasses and an Android-based smartphone, which are operated through a mobile application developed using the Unity game engine. The system divides the user’s field of vision into nine zones, assesses the level of danger in each zone, and guides the user along a safe walking path. The YOLOv8n model was trained to recognize sidewalks, pedestrian crossings, bus stops, subway exits, and various obstacles on a smartphone connected to XR glasses and demonstrated an average processing time of 583 ms and an average memory usage of 80 MB, making it suitable for real-time use. The experiments were conducted on a 3.3 km route around Bokjeong Station in South Korea and confirmed that the system works effectively in a variety of walking environments, but recognized the need to improve performance in low-light environments and further testing with visually impaired people. By proposing an innovative walking assistance system that combines XR technology and artificial intelligence, this study is expected to contribute to improving the independent mobility of visually impaired people. Future research will further validate the effectiveness of the system by integrating it with real-time public transport information and conducting extensive experiments with users with varying degrees of visual impairment. Full article

India has an estimated 12 million visually impaired people and is home to the world’s largest number in any country. Smart walking stick devices use various technologies including machine vision and different sensors for improving the safe movement of visually impaired persons. In machine vision, accurately recognizing an object that is near to them is still a challenging task. This paper provides a system to enable safe navigation and guidance for visually impaired people by implementing an object recognition module in the smart walking stick that uses a local feature extraction method to recognize an object under different image transformations. To provide stability and robustness, the Weighted Guided Harris Corner Feature Detector (WGHCFD) method is proposed to extract feature points from the image. WGHCFD discriminates image features competently and is suitable for different real-world conditions. The WGHCFD method evaluates the most popular Oxford benchmark datasets, and it achieves greater repeatability and matching score than existing feature detectors. In addition, the proposed WGHCFD method is tested with a smart stick and achieves 99.8% recognition rate under different transformation conditions for the safe navigation of visually impaired people. Full article

The study purpose was to train and validate a deep learning approach to detect microscale streetscape features related to pedestrian physical activity. This work innovates by combining computer vision techniques with Google Street View (GSV) images to overcome impediments to conducting audits (e.g., time, safety, and expert labor cost). The EfficientNETB5 architecture was used to build deep learning models for eight microscale features guided by the Microscale Audit of Pedestrian Streetscapes Mini tool: sidewalks, sidewalk buffers, curb cuts, zebra and line crosswalks, walk signals, bike symbols, and streetlights. We used a train–correct loop, whereby images were trained on a training dataset, evaluated using a separate validation dataset, and trained further until acceptable performance metrics were achieved. Further, we used trained models to audit participant (N = 512) neighborhoods in the WalkIT Arizona trial. Correlations were explored between microscale features and GIS-measured and participant-reported neighborhood macroscale walkability. Classifier precision, recall, and overall accuracy were all over >84%. Total microscale was associated with overall macroscale walkability (r = 0.30, p < 0.001). Positive associations were found between model-detected and self-reported sidewalks (r = 0.41, p < 0.001) and sidewalk buffers (r = 0.26, p < 0.001). The computer vision model results suggest an alternative to trained human raters, allowing for audits of hundreds or thousands of neighborhoods for population surveillance or hypothesis testing. Full article

A conventional blind walking algorithm has low walking stability on uneven terrain because a robot cannot rapidly respond to height changes of the ground due to limited information from foot force sensors. In order to cope with rough terrain, it is essential to obtain 3D ground information. Therefore, this paper proposes a vision-guided six-legged walking algorithm for stable walking on uneven terrain. We obtained noise-filtered 3D ground information by using a Kinect sensor and experimentally derived coordinate transformation information between the Kinect sensor and robot body. While generating landing positions of the six feet from the predefined walking parameters, the proposed algorithm modifies the landing positions in terms of reliability and safety using the obtained 3D ground information. For continuous walking, we also propose a ground merging algorithm and successfully validate the performance of the proposed algorithms through walking experiments on a treadmill with obstacles. Full article

It is difficult for visually impaired people to move indoors and outdoors. In 2018, world health organization (WHO) reported that there were about 253 million people around the world who were moderately visually impaired in distance vision. A navigation system that combines positioning and obstacle detection has been actively researched and developed. However, when these obstacle detection methods are used in high-traffic passages, since many pedestrians cause an occlusion problem that obstructs the shape and color of obstacles, these obstacle detection methods significantly decrease in accuracy. To solve this problem, we developed an application “Follow me!”. The application recommends a safe route by machine learning the gait and walking route of many pedestrians obtained from the monocular camera images of a smartphone. As a result of the experiment, pedestrians walking in the same direction as visually impaired people, oncoming pedestrians, and steps were identified with an average accuracy of 0.92 based on the gait and walking route of pedestrians acquired from monocular camera images. Furthermore, the results of the recommended safe route based on the identification results showed that the visually impaired people were guided to a safe route with 100% accuracy. In addition, visually impaired people avoided obstacles that had to be detoured during construction and signage by walking along the recommended route. Full article

Visual impairments cause very limited and low vision, leading to difficulties in processing information such as obstacles, objects, multimedia contents (e.g., video, photographs, and paintings), and reading in outdoor and indoor environments. Therefore, there are assistive devices and aids for visually impaired (VI) people. In general, such devices provide guidance or some supportive information that can be used along with guide dogs, walking canes, and braille devices. However, these devices have functional limitations; for example, they cannot help in the processing of multimedia contents such as images and videos. Additionally, most of the available braille displays for the VI represent the text as a single line with several braille cells. Although these devices are sufficient to read and understand text, they have difficulty in converting multimedia contents or massive text contents to braille. This paper describes a methodology to effectively convert multimedia contents to braille using 2D braille display. Furthermore, this research also proposes the transformation of Digital Accessible Information SYstem (DAISY) and electronic publication (EPUB) formats into 2D braille display. In addition, it introduces interesting research considering efficient communication for the VI. Thus, this study proposes an eBook reader application for DAISY and EPUB formats, which can correctly render and display text, images, audios, and videos on a 2D multiarray braille display. This approach is expected to provide better braille service for the VI when implemented and verified in real-time. Full article

In this article, we present a real-time 6DoF egomotion estimation system for indoor environments using a wide-angle stereo camera as the only sensor. The stereo camera is carried in hand by a person walking at normal walking speeds 3–5 km/h. We present the basis for a vision-based system that would assist the navigation of the visually impaired by either providing information about their current position and orientation or guiding them to their destination through different sensing modalities. Our sensor combines two different types of feature parametrization: inverse depth and 3D in order to provide orientation and depth information at the same time. Natural landmarks are extracted from the image and are stored as 3D or inverse depth points, depending on a depth threshold. This depth threshold is used for switching between both parametrizations and it is computed by means of a non-linearity analysis of the stereo sensor. Main steps of our system approach are presented as well as an analysis about the optimal way to calculate the depth threshold. At the moment each landmark is initialized, the normal of the patch surface is computed using the information of the stereo pair. In order to improve long-term tracking, a patch warping is done considering the normal vector information. Some experimental results under indoor environments and conclusions are presented. Full article