A computer vision-based wayfinding and navigation aid can improve the mobility of blind and visually impaired people to travel independently. In this paper, we develop a new framework to detect and recognize stairs and pedestrian crosswalks using a RGBD camera. Since both stairs and pedestrian crosswalks are featured by a group ofparallel lines, we first apply Hough transform to extract the concurrent parallel lines based on the RGB channels. Then, the Depth channel is employed to further recognize pedestrian crosswalks, upstairs, and downstairs using support vector machine (SVM) classifiers. Furthermore, we estimate the distance between the camera and stairs for the blind users. The detection and recognition results on our collected dataset demonstrate that the effectiveness and efficiency of our proposed framework.
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