A Navigation System for the Visually Impaired: A Fusion of Vision and Depth Sensor

Figure 15

The navigation system’s visual output on an outdoor video sequence with people walking around the subject (blindfolded) as dynamic obstacles. In frame (g), system starts sensing hazard shown with red points but loses it after 3 frames; therefore, no warning is issued.

(a) No hazard

(b) No hazard

(c) No hazard

(d) No hazard

(e) No hazard

(f) No hazard

(g) Distance < 1.8 m

(h) Distance < 1.8 m

(i) Distance < 1.8 m

(j) No hazard

(k) No hazard

(l) Distance < 1.8 m

(m) Distance < 1.8 m

(n) Distance < 1.8 m

(o) Distance < 1.8 m