RGB-Dセンサと動的SLAM・パノプティックセグメンテーションによる視覚障害者向け屋内ナビゲーション支援
Indoor Navigation Assistance for Visually Impaired People via Dynamic SLAM and Panoptic Segmentation with an RGB-D Sensor
RGB-Dセンサでパノプティックセグメンテーションと自己位置推定を行い、動的障害物を検出・追跡して音響フィードバックで視覚障害者に伝える屋内支援システムを提案した。
著者: Wenyan Ou, Jiaming Zhang, Kunyu Peng, Kailun Yang, Gerhard Jaworek, Karin Müller, Rainer Stiefelhagen
分類: cs.CV, cs.HC, cs.RO, eess.IV
原文アブストラクト
Exploring an unfamiliar indoor environment and avoiding obstacles is challenging for visually impaired people. Currently, several approaches achieve the avoidance of static obstacles based on the mapping of indoor scenes. To solve the issue of distinguishing dynamic obstacles, we propose an assistive system with an RGB-D sensor to detect dynamic information of a scene. Once the system captures an image, panoptic segmentation is performed to obtain the prior dynamic object information. With sparse feature points extracted from images and the depth information, poses of the user can be estimated. After the ego-motion estimation, the dynamic object can be identified and tracked. Then, poses and speed of tracked dynamic objects can be estimated, which are passed to the users through acoustic feedback.
関連論文
- 視覚障害者誘導のための床面抽出と扉検出視覚障害者支援/ナビゲーション
