2022/04/03 by Wenyan Ou, Jiaming Zhang, Ou, Wenyan +11 · 1 citation
Computer Science · Neuroscience · #Advanced Vision and Imaging #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #FOS: Electrical engineering #Human-Computer Interaction (cs.HC) #Image and Video Processing (eess.IV) #Robotics (cs.RO) #Tactile and Sensory Interactions #Video Surveillance and Tracking Methods #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2204.01154
openalex publication_date 2022/04/03 · openalex created_date 2022/09/20 · openalex updated_date 2026/07/28
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.