论文标题
在室外/室内地区实施盲导方法
Implementation of a Blind navigation method in outdoors/indoors areas
论文作者
论文摘要
根据WHO统计数据，视力障碍人数每年增加。视力受损的人最重要的必需品之一是安全导航的能力。本文建议使用单眼相机基于视觉大满贯和YOLO算法的导航系统。提出的系统包括三个步骤：障碍距离估计，路径偏差检测和下一步预测。使用ORB-SLAM算法，该提出的方法从预定义的路线创建了地图，并指导用户留在路线上，同时通知他们是否偏离了路线。此外，系统还利用Yolo算法来检测沿路线的障碍并提醒用户。通过使用笔记本电脑相机获得的实验结果表明，在室内和室外的11米的预定义路线中引导用户时，提出的系统可以以每秒30帧的速度运行。定位系统的准确性为8厘米，如果用户从预定义的路线偏离超过60厘米的路线，则通知他们。
According to WHO statistics, the number of visually impaired people is increasing annually. One of the most critical necessities for visually impaired people is the ability to navigate safely. This paper proposes a navigation system based on the visual slam and Yolo algorithm using monocular cameras. The proposed system consists of three steps: obstacle distance estimation, path deviation detection, and next-step prediction. Using the ORB-SLAM algorithm, the proposed method creates a map from a predefined route and guides the users to stay on the route while notifying them if they deviate from it. Additionally, the system utilizes the YOLO algorithm to detect obstacles along the route and alert the user. The experimental results, obtained by using a laptop camera, show that the proposed system can run in 30 frame per second while guiding the user within predefined routes of 11 meters in indoors and outdoors. The accuracy of the positioning system is 8cm, and the system notifies the users if they deviate from the predefined route by more than 60 cm.
