視覚障害者誘導のためのUAVによる知覚ベース衝突回避
Towards Perception-based Collision Avoidance for UAVs when Guiding the Visually Impaired
視覚障害者を屋外で誘導するドローン向けに、搭載センサと複数のDNNを組み合わせた局所経路計画とGPS・地図による大域計画を統合したシステムを提案し、大学キャンパスでの実証実験で有効性を示した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Suman Raj, Swapnil Padhi, Ruchi Bhoot, Prince Modi, Yogesh Simmhan
分類: cs.RO, cs.CV
原文アブストラクト
Autonomous navigation by drones using onboard sensors combined with machine learning and computer vision algorithms is impacting a number of domains, including agriculture, logistics, and disaster management. In this paper, we examine the use of drones for assisting visually impaired people (VIPs) in navigating through outdoor urban environments. Specifically, we present a perception-based path planning system for local planning around the neighborhood of the VIP, integrated with a global planner based on GPS and maps for coarse planning. We represent the problem using a geometric formulation and propose a multi DNN based framework for obstacle avoidance of the UAV as well as the VIP. Our evaluations conducted on a drone human system in a university campus environment verifies the feasibility of our algorithms in three scenarios; when the VIP walks on a footpath, near parked vehicles, and in a crowded street.
