Robust Obstacle Mapping for Visually Impaired Jogger on Less Structured Paths
Seßner J, Ramer C, Manert M, Reitelshöfer S, Franke J (2019)
Publication Status: In press
Publication Type: Conference contribution, Conference Contribution
Future Publication Type: Article in Edited Volumes
Publication year: 2019
Event location: Paris, France
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.
Authors with CRIS profile
Julian Seßner
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS)
Christina Ramer
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS)
Sebastian Reitelshöfer
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS)
Jörg Franke
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS)
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.
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