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

Figure 13

The navigation system’s visual output on an indoor video sequence of walking through a corridor coming in front of a wall. Here, (a) describes the navigational path by the subject (blind person). The system counts frames for consistent presence of hazard (b) till (e) and then generates voice signal “right” on frame (f). Similarly, the system starts counts on frame (g) but then no warning is generated because it loses red points in subsequent frames till frame (l).

(a) Navigating through corridor

(b) Distance < 1.8 m

(c) Distance < 1.8 m

(d) Distance < 1.8 m

(e) Distance < 1.8 m

(f) Warning: right

(g) Distance < 1.8 m

(h) No hazard

(i) No hazard

(j) No hazard

(k) Distance < 1.8 m

(l) Distance < 1.8 m

(m) Distance < 1.8 m