| 任慧娟， 金守峰， 林强强， 程云飞， 顾金芋.面向视障人群的障碍物位置与距离的视觉测量方法[J].轻工机械,2020,38(3):65-68 |
| 面向视障人群的障碍物位置与距离的视觉测量方法 |
| Visual Measurement Method for Obstacle Position and Distance for Visualy Impaired People |
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| DOI：10.3969/j.issn.1005 2895.2020.03.013 |
| 中文关键词: 视障人群 障碍物检测 单目视觉 帧差法 测距模型 |
| 英文关键词:visually impaired people obstacle detection monocular vision frame difference method ranging model |
| 基金项目:国家自然科学基金（61701384）；西安市科技计划项目（201805030YD8CG14 16）。 |
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| 中文摘要: |
| 针对视障人群与障碍物之间的位置与距离难以检测的问题，课题组提出了基于单目视觉的障碍物检测与定位方法。该方法基于单目视觉系统获取外界环境信息，在三帧差法的基础上对相邻帧差图像进行加法运算，降低了噪声的影响，实现了对正前方和两侧横穿的障碍物的检测与定位；结合单目视觉系统标定，建立了单目测距模型，计算视障者与障碍物之间的距离；根据视障者的行走速度规划防撞预警策略。通过实验验证表明该方法能够有效检测出人行道上的行人障碍物，同时距离障碍物小于8 m时测距误差控制在5%以下，并提示预警措施。课题组的研究在一定程度上解决了视障人群出行安全的问题。 |
| 英文摘要: |
| Aiming at the problem that the position and distance between visually impaired people and obstacles is difficult to detect, a method based on monocular vision for obstacle detection and localization is proposed.The method was based on the monocular vision system to obtain the external environment information. On the basis of the three frame difference method, the adjacent frame difference images were added to reduce the influence of noise,and this method achieved the detection and localization of obstacles that were traversed directly in front and on both sides.Combined with the calibration of the monocular vision system, a monocular ranging model was established to calculate the distance between the visually impaired and the obstacle, and the anti collision warning strategy was planned according to the walking speed of the visually impaired.The experimental results show that the proposed method can effectively detect pedestrian obstacles on the sidewalk, and the distance measurement error is controlled below 5% when the distance is less than 8 m, indicating early warning measures. This study solves the problem for visually impaired people to some extent. |
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