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

Figure 14

The navigation system’s visual output on an outdoor video sequence, walking towards a wall with noticeboard. (a) presents the complete navigation of the subject (blind person). Images in (b–m) show system’s processing. The system finds red points in frame (i) and so starts counting and generates verbal warning to stop on frame (m).

(a) Navigating towards noticeboard: a dead end

(b) No hazard

(c) No hazard

(d) No hazard

(e) No hazard

(f) No hazard

(g) No hazard

(h) No hazard

(i) Distance < 1.8 m

(j) Distance < 1.8 m

(k) Distance < 1.8 m

(l) Distance < 1.8 m

(m) Warning: stop