An Indoor Obstacle Avoidance and Guidance System for the Blinds Using Computer Vision Techniques

• Main Authors: Xun-Yu Wang, 王尋玉
• Other Authors: Yih-Ming Su
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/14685566661658848846

碩士 === 義守大學 === 電子工程學系 === 104 === In indoor environment color are basic on building fabric, and its distributed also related on building construct, which make floor and non-floor region can easily understand. The floor region has walkable condition, and space extend conception, that can seem as the guidance direction, which make the floor region become the walkable path. In this thesis, we present an obstacle avoidance and guidance system for the blind in the indoor environment. In the system, we capture images from the video, use Mean-Shift algorithm for image preprocessing, and the Flood-Fill algorithm for color segmentation. After the color segmentation, the floor color is segmented to filtering non-floor colors, which extract two lines from floor edge on right and left side of the corridor to calculate their intersection point regarded as a vanishing point. A guidance line is obtained from the position of the blind to the vanishing point. Furthermore, there are some pedestrians or objects existed on the floor. The avoidance direction is decided to use a near distance decision to locate path. Due to the non-floor region and obstacle to change the contour of floor region, we can use this specific floor contour to obtain first coordinate position, which can locate region of obstacle in the image. This region will have foreground saliency color, which we can use to adjust region position by compare with background color. The continuous center points of floor region can connect to be a guidance line to achieve the object avoidance. Finally, the floor region and obstacle detection has the successful rate of the 88% in the experiment. It also has good avoidance and guidance performance in the near-distance obstacles.