Robust Obstacle Mapping for Visually Impaired Jogger on Less Structured Paths

Conference contribution
(Conference Contribution)


Publication Details

Author(s): Seßner J, Ramer C, Manert M, Reitelshöfer S, Franke J
Publication year: 2019


Abstract

This paper presents robust mapping of obstacles for an assistive system
for blind and visually impaired jogger. The missing visual perception is
substituted with a 3D stereo camera, capturing color and depth
information from the environment. It is integrated into a lightweight
backpack together with a single board computer. This paper focusses on
the obstacle detection and mapping using the v-disparity method. To
enhance the robustness of the mapping algorithm a roll angle detection
and compensation is implemented. The algorithms are evaluated in
different environments and proved their feasibility. The framerate is
sufficient to detect obstacles in time.


FAU Authors / FAU Editors

Franke, Jörg Prof. Dr.-Ing.
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik
Ramer, Christina
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik
Reitelshöfer, Sebastian
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik
Seßner, Julian
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik


How to cite

APA:
Seßner, J., Ramer, C., Manert, M., Reitelshöfer, S., & Franke, J. (2019). Robust Obstacle Mapping for Visually Impaired Jogger on Less Structured Paths. In Proceedings of the 2019 IEEE/SICE International Symposium on System Integration. Paris, France, FR.

MLA:
Seßner, Julian, et al. "Robust Obstacle Mapping for Visually Impaired Jogger on Less Structured Paths." Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, Paris, France 2019.

BibTeX: 

Last updated on 2019-21-05 at 10:23