Blind navigation aid system with Kinect sensor in complex indoor environments

ZHANG Ke-hua; WANG Shu-ping; YIN Xiao-hong; CHENG Guang-ming

doi:10.3788/OPE.20152308.2419

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Blind navigation aid system with Kinect sensor in complex indoor environments

更新时间：2020-08-12

- Blind navigation aid system with Kinect sensor in complex indoor environments
- Optics and Precision Engineering Vol. 23, Issue 8, Pages: 2419-2427(2015)
- 作者机构：
  
  浙江师范大学精密机械研究所, 浙江金华 321004
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20152308.2419
  CLC： TP29
- Received：19 November 2014，
  
  Revised：04 January 2015，
  
  Published：25 August 2015
- 稿件说明：
移动端阅览
张克华, 王书平, 尹晓红等. 复杂室内环境下的单一Kinect导盲系统[J]. 光学精密工程, 2015,23(8): 2419-2427

ZHANG Ke-hua, WANG Shu-ping, YIN Xiao-hong etc. Blind navigation aid system with Kinect sensor in complex indoor environments[J]. Editorial Office of Optics and Precision Engineering, 2015,23(8): 2419-2427
张克华, 王书平, 尹晓红等. 复杂室内环境下的单一Kinect导盲系统[J]. 光学精密工程, 2015,23(8): 2419-2427 DOI： 10.3788/OPE.20152308.2419.

ZHANG Ke-hua, WANG Shu-ping, YIN Xiao-hong etc. Blind navigation aid system with Kinect sensor in complex indoor environments[J]. Editorial Office of Optics and Precision Engineering, 2015,23(8): 2419-2427 DOI： 10.3788/OPE.20152308.2419.

摘要

针对现有导盲设备存在的检测效果差

系统复杂

不便携带等问题

开发了基于单一Kinect传感器的导盲系统。该系统能够同时检测地面和头部之间的所有障碍物

并将准确的路况信息通过语音传递给用户

以实现导盲作用。该系统运用深度图像翻转算法和障碍物识别算法来识别地面障碍物、地面坑洞、悬空障碍物3种类型的障碍物;同时运用深度图像过滤算法和障碍物距离计算算法来确定有效范围内障碍物的位置。设计制作了导盲试验样机

在复杂室内环境多个场景下对障碍物的识别和检测进行了实验测定。实验结果表明:该导盲系统能够在一定范围内较为准确地识别面积大于10

-3

的障碍物及高度差超过0.02 m的坑洞

经过图像过滤可将用户身高以内

宽度1 m内的障碍物的最佳避障路线通过语音传递给用户

满足了导盲需求。该系统的应用不仅对导盲具有重要作用

对机器人自主行走也有参考意义。

Abstract

A blind navigation aid system was designed to improve the poor detection

complex structure and inconvenient to carry for the existing guide equipment. The system could detect all the obstacles between the ground and the user's head

and could deliver accurately the traffic information through a voice prompt to the user

so as to complete the navigation. The depth image rotation algorithm and detection obstacle technology were applied in this system to identify three types of obstacles including ground obstacles

ground pits and hanging obstacles. Meanwhile

the depth image filtering algorithm and obstacle distance calculation were used to determine the position of the obstacle in an effective range. A prototype was developed

and the experiments on the obstacle recognition and obstacle position detection were carried out in various scenes at a laboratory. The experimental results show that the navigation system can accurately identify the obstacle with an area more than 10

-3

and the holes with a height difference more than 0.02 m and can determine the best way to avoid the obstacle in an effective range by voice prompt to the user

so as to meet the daily demand to blind navigation. The development of this system and the applications of various algorithms not only have important effect on the blind navigation

but also have reference significance for the robot walking dependently.

关键词

Keywords

references

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