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首页> 外文期刊>IEEE sensors journal >A System-Prototype Representing 3D Space via Alternative-Sensing for Visually Impaired Navigation
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A System-Prototype Representing 3D Space via Alternative-Sensing for Visually Impaired Navigation

机译：通过视觉感知导航的替代感测来表示3D空间的系统原型

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Offering an alternative mode of interaction with the surrounding 3-D space to the visually impaired for collision free navigation is a goal of great significance that includes several key challenges. In this paper, we study the alternative 3-D space sensation that is interpreted by our computer vision prototype system and transferred to the user via a vibration array. There are two main tasks for conducting such a study. The first task is to detect obstacles in close proximity, and motion patterns in image sequences, both important issues for a safe navigation in a 3-D dynamic space. To achieve this task, the images from the left and right cameras are acquired to produce new stereo images, followed by video stabilization as a preprocessing stage, a nonlinear spatio-temporal diffusion and kernel based density estimation method to assess the motion activity, and finally watershed-based detection of moving regions (or obstacles) of interest. The second task is to efficiently represent the information of the captured static and dynamic visual scenes as 3-D detectable patterns of vibrations applied on the human body to create a 3-D sensation of the space during navigation. To accomplish this task, considering the current limitations imposed by the technology, we create a high-to-low (H-L) image resolution representation scheme to facilitate the mapping onto a low-resolution 2-D array of vibrators. The H-L scheme uses pyramidal modeling to obtain low-resolution images of interest-preserving motion and obstacles-that are mapped onto a vibration array. These patterns are utilized to train and test the performance of the users in free space navigation. Thus, in this paper we study the synergy of these two important schemes to offer an alternative sensation of the 3-D space to the visually impaired via an array of vibrators. Particularly, the motion component is employed as an element for the identification of visual information of interest to be retained during the H-L tran- formation. The role of the array vibrators is to create a small-scale front representation of the space via various levels of vibrations. Thus, 3-D vibrations applied on the user's body (chest, abdomen) offer a 3-D sensation of the surrounding space and the motion in it. In addition, we present experimental results that indicate the efficiency of this navigation scheme in creating low-resolution 3-D views of the free navigation space and detecting obstacles and moving areas.
机译：为无障碍导航提供视觉障碍者与周围的3-D空间交互的替代模式是一项具有重大意义的目标，其中包括几个关键挑战。在本文中，我们研究了由计算机视觉原型系统解释并通过振动阵列传递给用户的替代3D空间感觉。进行这样的研究有两个主要任务。第一项任务是检测附近的障碍物以及图像序列中的运动模式，这对于在3D动态空间中安全导航都是重要的问题。为了完成此任务，需要采集左右摄像机的图像以产生新的立体图像，然后将视频稳定化作为预处理阶段，然后采用非线性时空扩散和基于核的密度估计方法来评估运动活动，最后基于分水岭的目标运动区域（或障碍物）检测。第二项任务是将捕获的静态和动态视觉场景的信息有效地表示为施加在人体上的3-D可检测振动模式，以在导航过程中产生空间的3-D感觉。为了完成此任务，考虑到该技术当前的局限性，我们创建了一个高到低（H-L）图像分辨率表示方案，以方便映射到低分辨率的二维振动器阵列。 H-L方案使用金字塔模型来获得低分辨率的图像，该图像保留了兴趣并保留了运动，并被映射到振动阵列上。这些模式用于在自由空间导航中训练和测试用户的性能。因此，在本文中，我们研究了这两个重要方案的协同作用，以通过振动器阵列为视障人士提供3-D空间的替代感觉。特别地，运动分量被用作识别在H-L转换期间要保留的感兴趣的视觉信息的元素。阵列振动器的作用是通过各种级别的振动来创建空间的小规模正面表示。因此，施加在使用者身体（胸部，腹部）上的3-D振动可对周围空间及其中的运动提供3-D感觉。此外，我们提供的实验结果表明，该导航方案在创建自由导航空间的低分辨率3-D视图以及检测障碍物和移动区域方面的效率。

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