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Indoor Navigation Assistance for Visually Impaired People via Dynamic SLAM and Panoptic Segmentation with an RGB-D Sensor

Ou, Wenyan 1; Zhang, Jiaming ORCID iD icon 1; Peng, Kunyu 1; Yang, Kailun 1; Jaworek, Gerhard 1; Müller, Karin ORCID iD icon 1; Stiefelhagen, Rainer ORCID iD icon 1
1 Institut für Anthropomatik und Robotik (IAR), Karlsruher Institut für Technologie (KIT)

Abstract:

Exploring an unfamiliar indoor environment and avoiding obstacles is challenging for visually impaired people. Currently, several approaches achieve the avoidance of static obstacles based on the mapping of indoor scenes. To solve the issue of distinguishing dynamic obstacles, we propose an assistive system with an RGB-D sensor to detect dynamic information of a scene. Once the system captures an image, panoptic segmentation is performed to obtain the prior dynamic object information. With sparse feature points extracted from images and the depth information, poses of the user can be estimated. After the ego-motion estimation, the dynamic object can be identified and tracked. Then, poses and speed of tracked dynamic objects can be estimated, which are passed to the users through acoustic feedback.


Originalveröffentlichung
DOI: 10.48550/arXiv.2204.01154
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Zitationen: 1
Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Forschungsbericht/Preprint
Publikationsdatum 03.04.2022
Sprache Englisch
Identifikator KITopen-ID: 1000149165
HGF-Programm 46.24.01 (POF IV, LK 01) Applied TA: Digitalizat. & Automat. Socio-Technical Change
Nachgewiesen in arXiv
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