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3D Detection of Obstacle Distribution and Mapping for Tactile Stimulation

机译：触觉刺激障碍物分布与绘图的3D检测

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摘要

In walking guide system for a blind pedestrian, it is needed to detect an obstacle distribution in walking space not only 2D but space including pendent and/or protruded obstacles, and feedback to the blind for safe walking. The obstacle information is transferred to a blind pedestrian by a tactile stimulation. Based on the obstacle information a user plans walking route, and controls the walking guide system. In this paper, the methods for a 3D obstacle detection using ultrasonic sensors and mapping to an array type tactile stimulator are proposed. The experiment for the 3D detection of an obstacle distribution using ultrasonic sensors is performed and estimated. The experimental system consisted of ultrasonic sensors and control system. In the experiment, the detection of obstacles on the ground and the detection of down step are performed. The performance for the 3D detection of obstacle distribution and mapping for tactile stimulation are verified through the experiment.
机译：在盲人行人的行走引导系统中，需要检测步行空间的障碍物分布，不仅是2D，而且包括悬垂和/或突出的障碍物，以及对盲人的反馈。通过触觉刺激将障碍物信息转移到盲人行人。基于障碍信息，用户计划步行路线，并控制行走引导系统。本文提出了使用超声传感器和映射到阵列触觉刺激器的3D障碍物检测的方法。执行使用超声传感器的3D检测3D检测的实验，并估计。实验系统包括超声波传感器和控制系统。在实验中，进行地面检测地面的障碍物并检测到下降步骤。通过实验验证了障碍物分布和触觉刺激映射的3D检测的性能。

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