RGB-D image-based detection of stairs,pedestrian crosswalks and traffic signs |
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Institution: | 1. Computer Languages and Systems Department, University of Seville, Avda. Reina Mercedes s/n, Seville 41012, Spain;2. Department of Materials Engineering, Applied Mechanics & Construction, University of Vigo, Torrecedeira 86, Vigo 36208, Spain |
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Abstract: | 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, pedestrian crosswalks, and traffic signals based on RGB-D (Red, Green, Blue, and Depth) images. Since both stairs and pedestrian crosswalks are featured by a group of parallel lines, we first apply Hough transform to extract the concurrent parallel lines based on the RGB (Red, Green, and Blue) channels. Then, the Depth channel is employed to recognize pedestrian crosswalks and stairs. The detected stairs are further identified as stairs going up (upstairs) and stairs going down (downstairs). The distance between the camera and stairs is also estimated for blind users. Furthermore, the traffic signs of pedestrian crosswalks are recognized. The detection and recognition results on our collected datasets demonstrate the effectiveness and efficiency of our proposed framework. |
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Keywords: | Blind Visually impaired Wayfinding and navigation RGB-D camera Object recognition Computer vision Portable assistance Scene recognition |
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