Real-Time Obstacle Detection System in Indoor Environment for the Visually Impaired Using Microsoft Kinect Sensor

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/js/volume-2016/3754918/figures/3754918.fig.0012a.svgz" name="3754918.fig.0012a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Some obstacles on the floor</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/js/volume-2016/3754918/figures/3754918.fig.0012b.svgz" name="3754918.fig.0012b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>The obstacles size after approximation</td></tr></table>

<div>An example of the obstacle size approximated by a rectangular parallelepiped.</div>

Journal of Sensors

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Figure 12

Figure 12: Real-Time Obstacle Detection System in Indoor Environment for the Visually Impaired Using Microsoft Kinect Sensor 