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WO2014096483A1 - Dispositif et procédé de détection d'obstacles en hauteur pour aveugles - Google Patents

Dispositif et procédé de détection d'obstacles en hauteur pour aveugles Download PDF

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Publication number
WO2014096483A1
WO2014096483A1 PCT/ES2013/070841 ES2013070841W WO2014096483A1 WO 2014096483 A1 WO2014096483 A1 WO 2014096483A1 ES 2013070841 W ES2013070841 W ES 2013070841W WO 2014096483 A1 WO2014096483 A1 WO 2014096483A1
Authority
WO
WIPO (PCT)
Prior art keywords
histogram
obstacles
user
obstacle
detection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/ES2013/070841
Other languages
English (en)
Spanish (es)
Inventor
Juan Manuel SÁEZ MARTÍNEZ
Francisco ESCOLANO RUÍZ
Miguel Ángel LOZANO ORTEGA
Javier PITA LOZANO
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Universidad de Alicante
Original Assignee
Universidad de Alicante
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universidad de Alicante filed Critical Universidad de Alicante
Publication of WO2014096483A1 publication Critical patent/WO2014096483A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures

Definitions

  • the object of the present invention is a system and method for the detection of aerial obstacles for the blind as a non-substitute complement for the cane or the guide dog.
  • aerial obstacles are understood all those obstacles that have no projection against the ground, such as tree branches, awnings and the like.
  • Blindness is considered the greatest of sensory disabilities, since it is estimated that 80% of human sensory information comes from vision. This lack of information largely determines the life of the individual, their interaction with the environment and with society, their learning, etc.
  • One of the daily challenges facing a blind person is that of autonomous displacement.
  • An advantage of the present invention is its integration into a smartphone (Smartphone), without any additional hardware, so it is comfortable and discreet for the user, facilitating its social integration.
  • the invention is capable of warning of obstacles by means of acoustic signals (through the telephone speaker, never through headphones) or vibrations, using the telephone's own vibration system. This last option makes the system even more discreet, since only the user perceives the warning and does not deprive the user of hearing, the main sense for a blind person.
  • the invention is capable of taking measurements of the environment several meters away. This is not possible with the hardware that most smartphones integrate, but with the dual camera that some models called "3D phones" incorporate. These terminals incorporate a double rear camera in order to film the scene in stereo, for which they need two objectives. The reason why manufacturers incorporate this unique option in their devices is to recreate an effect called "3D without glasses", that is, the visualization of the stereo scene through a screen based on parallex-barrier, which causes the optical illusion similar to the visualization of the scene in three dimensions.
  • the device of the invention is applicable in any device with double rear camera. Commercial devices of this type are the LG Optimus 3D® and the HTC Evo 3D®.
  • the present invention is not restricted to 3D phones with two cameras, since any phone with a single camera can be adapted with a mirror-based catadioptric system to divide the image signal and thus obtain two separate observations of the environment.
  • the system uses some common sensors in these types of devices, such as the magnetometer and accelerometer, to detect the overall orientation of the device and estimate with it the direction in which the user moves.
  • FIG. 1 Shows a geometric scheme of the obstacle detection method according to the present invention.
  • FIG. 2 Shows a block diagram of the obstacle detection method according to the present invention.
  • the operation of the device that implements the method object of the present invention is directly related to its portability by the user, since the device must be hung from the neck, with the camera facing forward and the screen of the device resting against the chest to activate the obstacle detection method. Once it is detected by the proximity sensor of the device that has been placed in that position, the device is locked and obstacle detection begins. Detection will be disabled by turning the device, or simply by separating it from the chest.
  • Obstacle detection will be carried out up to a distance of four meters in the user's forward direction, taking into account the space occupied by his torso, estimating a volume of 0.5x0.5x4.0 meters.
  • the device incorporates an algorithm to correct the tilt movement produced when walking, which means that the camera is not always looking in the real direction of advance, but will continuously rotate from left to right. With this correction, obstacles will be sought in the direction in which we are moving, and not where the camera is looking at each moment.
  • Obstacles are notified when they are two meters away in the user's forward direction. Once an obstacle is found, the system will warn by vibration or beep, being more intense and / or frequent as the user approaches the obstacle.
  • the device comprises a touch interface that uses the device's own screen and is created for blind users.
  • This interface aims to provide the user with the possibility of configuring different aspects of the system.
  • the interface control is based on three gestures: vertical drag to change the menu item, horizontal drag to preselect the option of the current menu item and press to select the current option. After each gesture, and through the loudspeaker of the device, the menu item and the current option are vocalized, so that the user is permanently informed of the actions he is performing.
  • the device of the invention is applicable in any device with double rear camera. Commercial devices of this type are the LG Optimus 3D® and the HTC Evo 3D®. However, the present invention is not restricted to 3D phones with two cameras, since any phone with a single camera can be adapted with a mirror-based catadioptric system to divide the image signal and thus obtain two separate environmental observations, such and as indicated above.
  • the application consists of the following items:
  • volume in which the volume of both the acoustic signal and the vocalization of the menu is established.
  • the options are very high, high, medium and low.
  • the device and object of the invention uses the 3D information of the environment to detect the obstacles present therein.
  • This information is obtained through a set of algorithms and procedures related to the stereoscopic vision
  • the method comprises a step of obtaining 3D data by stereo vision, a step of establishing a distance histogram through the 3D data, and an obstacle detection stage from the distance histogram.
  • the mobile device is placed on the sternum, with the double chamber facing outwards, hanging from the neck as a medallion.
  • the angle at t on the horizontal axis OX also called pitch in the Tait-Bryan navigation system
  • the tilting movement of the body while walking which is transferred to the device, causes the angle of the mobile ⁇ ⁇ on the vertical axis OY (also called yaw in the Tait-Bryan system) to be continuously changing. That is why the real direction of movement of the user V ⁇ is not constant with respect to the device and must be estimated.
  • the vector V ⁇ can be estimated from the two angles mentioned above (a t ,? T ).
  • the value of a t is determined directly by the device, which combines the data of the accelerometer G ⁇ and that of the magnetometer ⁇ M t to obtain the overall rotation of the device with respect to the three axes y) (pitch, yaw and roll or rotation on OX, OY and OZ respectively).
  • the global pitch coincides with the first angle that we must use at t - a, so that V ⁇ is parallel to the real plane through which the user walks.
  • ⁇ ⁇ must be estimated from a set N previous measures of the global yaw ⁇ ? , ⁇ ? _ ⁇ ..., ⁇ _ ⁇ ⁇ .
  • V t is composed that symbolizes the direction in which the user moves.
  • a parallelepiped of size 0.5 x 0.5 x 4.0 m that symbolizes the projection of the user's torso on its direction of movement.
  • P t * is a point cloud distributed along a 4 meter long parallelepiped.
  • H t Each cell of the histogram H t [i] collects the number of points of the parallelepiped that are between the 0.05? V t and 0.05 (i + 1) V ⁇ planes.
  • the parallelepiped is divided into sectors of 0.05m in depth and the number of points of each sector in the histogram is collected.
  • H t represents a one-dimensional distribution of obstacles in the user's forward direction.
  • P T and therefore P t * have a projective nature, since they come from a stereoscopic system. This implies that the points will have a greater degree of dispersion the greater the distance at which they are observed. Specifically, said dispersion difference follows an exponential trend with respect to distance. This implies that the cells of the histogram H t [i] will have a decreasing density as it increases ⁇ , which is a product of the nature of the distribution and not of the obstacles it describes. To eliminate this problem, we form a unit square Q for each cell of the histogram H t [i] located at the same distance from that cell of the origin, that is 0.05 ⁇ V t . Next, the area of each projected square on the reference image 5 ⁇ is measured.
  • H ⁇ is a multimodal distribution.
  • the initial set of possible obstacles O t may contain a certain proportion of phantom obstacles, which appear and disappear from one observation to another.
  • a follow-up procedure is performed, so that we will only consider an obstacle when repeated over time in at least the previous 4 iterations. For this, 0 ⁇ is formed as the obstacles of O t that are repeated, at least, in the sets ⁇ O t _ 3 , O t _ 2 , O t _ 1; Or t ⁇ .

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Image Processing (AREA)

Abstract

Procédé de détection d'obstacles situés en hauteur pour aveugles, sur un dispositif électronique portatif qui comprend une double caméra capable de filmer en stéréoscopie, ledit procédé comprenant une étape d'obtention de données 3D par vision stéréoscopique, une étape de création d'un histogramme de distances à partir des données 3D, et une étape de détection d'obstacles à partir de l'histogramme de distances.
PCT/ES2013/070841 2012-12-17 2013-12-04 Dispositif et procédé de détection d'obstacles en hauteur pour aveugles Ceased WO2014096483A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES201201247A ES2478091B2 (es) 2012-12-17 2012-12-17 Dispositivo y método para la detección de obstáculos aéreos para invidentes
ESP201201247 2012-12-17

Publications (1)

Publication Number Publication Date
WO2014096483A1 true WO2014096483A1 (fr) 2014-06-26

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2013/070841 Ceased WO2014096483A1 (fr) 2012-12-17 2013-12-04 Dispositif et procédé de détection d'obstacles en hauteur pour aveugles

Country Status (2)

Country Link
ES (1) ES2478091B2 (fr)
WO (1) WO2014096483A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107850902A (zh) * 2015-07-08 2018-03-27 深圳市大疆创新科技有限公司 可移动物体上的相机配置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2265779A (en) * 1992-03-23 1993-10-06 Fuji Heavy Ind Ltd Obstacle warning system for vehicle
WO2003107039A2 (fr) * 2002-06-13 2003-12-24 I See Tech Ltd. Procede et appareil d'imagerie multicapteur et systeme d'interpretation de scene afin d'aider les mal voyants
US20080170118A1 (en) * 2007-01-12 2008-07-17 Albertson Jacob C Assisting a vision-impaired user with navigation based on a 3d captured image stream
US20120155764A1 (en) * 2010-12-15 2012-06-21 Sony Corporation Image processing device, image processing method and program

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2265779A (en) * 1992-03-23 1993-10-06 Fuji Heavy Ind Ltd Obstacle warning system for vehicle
WO2003107039A2 (fr) * 2002-06-13 2003-12-24 I See Tech Ltd. Procede et appareil d'imagerie multicapteur et systeme d'interpretation de scene afin d'aider les mal voyants
US20080170118A1 (en) * 2007-01-12 2008-07-17 Albertson Jacob C Assisting a vision-impaired user with navigation based on a 3d captured image stream
US20120155764A1 (en) * 2010-12-15 2012-06-21 Sony Corporation Image processing device, image processing method and program

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107850902A (zh) * 2015-07-08 2018-03-27 深圳市大疆创新科技有限公司 可移动物体上的相机配置

Also Published As

Publication number Publication date
ES2478091B2 (es) 2015-03-27
ES2478091A1 (es) 2014-07-18

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