A stereo vision-based aid for the visually impaired

Molton, Nicholas; Se, Stephen; Brady, J. Michael; Lee, D.; Probert, P.J.

doi:10.1016/s0262-8856(97)00087-5

Cited by 77 publications

(24 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…They have been used to track orientation [100]; to recognize locations [7], [77]; to detect obstacles [64], curbs, and steps [80], and zebra crossings [40], [81]. Images can also be transmitted back to the human operator at the navigation service center [28].…”

Section: ) Barometermentioning

confidence: 99%

Design of a Wireless Assisted Pedestrian Dead Reckoning System—The NavMote Experience

Fang

Antsaklis

Montestruque³

et al. 2005

IEEE Trans. Instrum. Meas.

228

144

View full text Add to dashboard Cite

Abstract-In this paper, we combine inertial sensing and sensor network technology to create a pedestrian dead reckoning system. The core of the system is a lightweight sensor-and-wireless-embedded device called NavMote that is carried by a pedestrian. The NavMote gathers information about pedestrian motion from an integrated magnetic compass and accelerometers. When the NavMote comes within range of a sensor network (composed of NetMotes), it downloads the compressed data to the network. The network relays the data via a RelayMote to an information center where the data are processed into an estimate of the pedestrian trajectory based on a dead reckoning algorithm. System details including the NavMote hardware/software, sensor network middleware services, and the dead reckoning algorithm are provided. In particular, simple but effective step detection and step length estimation methods are implemented in order to reduce computation, memory, and communication requirements on the Motes. Static and dynamic calibrations of the compass data are crucial to compensate the heading errors. The dead reckoning performance is further enhanced by wireless telemetry and map matching. Extensive testing results show that satisfactory tracking performance with relatively long operational time is achieved. The paper also serves as a brief survey on pedestrian navigation systems, sensors, and techniques.Index Terms-Dead reckoning, pedestrian navigation system, wireless sensor network.

show abstract

Section: ) Barometermentioning

confidence: 99%

Design of a Wireless Assisted Pedestrian Dead Reckoning System—The NavMote Experience

Fang

Antsaklis

Montestruque³

et al. 2005

IEEE Trans. Instrum. Meas.

228

144

View full text Add to dashboard Cite

show abstract

“…The patient might switch between increasing levels of complexity of the virtual and real task until eventually the task is performed both safely and independently in the real world. While some consideration has been given to the use of vision systems as aids for the disabled [8][9], we are not aware of any attempt to create the type of vision-based rehabilitation technologies that are the goal of the present project.…”

Section: Technology For Stroke Rehabilitationmentioning

confidence: 99%

<title>Object and event recognition for stroke rehabilitation</title>

Ghali

Cunningham

Pridmore

2003

Visual Communications and Image Processing 2003

View full text Add to dashboard Cite

Stroke is a major cause of disability and health care expenditure around the world. Existing stroke rehabilitation methods can be effective but are costly and need to be improved. Even modest improvements in the effectiveness of rehabilitation techniques could produce large benefits in terms of quality of life. The work reported here is part of an ongoing effort to integrate virtual reality and machine vision technologies to produce innovative stroke rehabilitation methods. We describe a combined object recognition and event detection system that provides real time feedback to stroke patients performing everyday kitchen tasks necessary for independent living, e.g. making a cup of coffee. The image plane position of each object, including the patient's hand, is monitored using histogram-based recognition methods. The relative positions of hand and objects are then reported to a task monitor that compares the patient's actions against a model of the target task. A prototype system has been constructed and is currently undergoing technical and clinical evaluation.

show abstract

“…For example, a navigation aid for the visually impaired (e.g., [13]) must estimate its pose as the person walks, in order to provide them with turn-by-turn directions from point A to B. In a human-worn augmented reality system (e.g., [3]), maintaining the camera pose along with the environment structure, is necessary to annotate the scene with information.…”

Section: Introductionmentioning

confidence: 99%

Consistency analysis and improvement for single-camera localization

Hesch

Roumeliotis

2012

2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops

View full text Add to dashboard Cite

In this paper, we study the problem of estimator inconsistency in single-camera simultaneous localization and mapping (MonoSLAM) from a standpoint of system observability. Specifically, we postulate that a leading cause of inconsistency is the gain of spurious information along unobservable directions, resulting in smaller uncertainties, larger estimation errors, and divergence. Moreover, we introduce an Observability-Constrained MonoSLAM (OCMonoSLAM) approach, which explicitly enforces the unobservable directions of the system, hence preventing spurious information gain and reducing inconsistency. Our analysis, along with the proposed method for reducing inconsistency, are validated with simulation trials and real-world experimentation.

show abstract

A stereo vision-based aid for the visually impaired

Cited by 77 publications

References 5 publications

Design of a Wireless Assisted Pedestrian Dead Reckoning System—The NavMote Experience

Design of a Wireless Assisted Pedestrian Dead Reckoning System—The NavMote Experience

<title>Object and event recognition for stroke rehabilitation</title>

Consistency analysis and improvement for single-camera localization

Contact Info

Product

Resources

About