Indoor/outdoor navigation system based on possibilistic traversable area segmentation for visually impaired people

Q4 Computer Science
Jihen Frikha, D. Sellami, I. Kallel
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引用次数: 5

Abstract

Autonomous collision avoidance for visually impaired people requires a specific processing for an accurate definition of traversable area. Processing of a real time image sequence for traversable area segmentation is quite mandatory. Low cost systems suggest use of poor quality cameras. However, real time low cost camera suffers from great variability of traversable area appearance at indoor as well as outdoor environments. Taking into account ambiguity affecting object and traversable area appearance induced by reflections, illumination variations, occlusions (, etc...), an accurate segmentation of traversable area in such conditions remains a challenge. Moreover, indoor and outdoor environments add additional variability to traversable areas. In this paper, we present a real-time approach for fast traversable area segmentation from image sequence recorded by a low-cost monocular camera for navigation system. Taking into account all kinds of variability in the image, we apply possibility theory for modeling information ambiguity. An efficient way of updating the traversable area model in each environment condition is to consider traversable area samples from the same processed image for building its possibility maps. Then fusing these maps allows making a fair model definition of the traversable area. Performance of the proposed system was evaluated on public databases, with indoor and outdoor environments. Experimental results show that this method is challenging leading to higher segmentation rates.
基于可能可穿越区域分割的视障人士室内外导航系统
视障人士的自动避碰需要对可穿越区域的精确定义进行特定的处理。处理实时图像序列的可遍历区域分割是相当必要的。低成本的系统建议使用质量差的相机。然而,实时低成本摄像机在室内和室外环境下可穿越区域的外观变化很大。考虑到反射、光照变化、遮挡等引起的模糊性对物体和可穿越区域外观的影响,在这种情况下准确分割可穿越区域仍然是一个挑战。此外,室内和室外环境为可穿越区域增加了额外的可变性。本文提出了一种从低成本单目相机记录的导航系统图像序列中快速分割可穿越区域的实时方法。考虑到图像中的各种可变性,我们应用可能性理论对信息歧义进行建模。在各种环境条件下更新可穿越区域模型的一种有效方法是考虑来自同一处理图像的可穿越区域样本来构建其可能性图。然后融合这些地图,可以对可穿越区域进行公平的模型定义。在公共数据库、室内和室外环境中对系统的性能进行了评估。实验结果表明,该方法具有较高的分割率。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Electronic Letters on Computer Vision and Image Analysis
Electronic Letters on Computer Vision and Image Analysis Computer Science-Computer Vision and Pattern Recognition
CiteScore
2.50
自引率
0.00%
发文量
19
审稿时长
12 weeks
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