Adaptive Behavior - Special issue on biologically inspired models of navigation
Appearance-Based Obstacle Detection with Monocular Color Vision
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Modeling the World from Internet Photo Collections
International Journal of Computer Vision
Make3D: Learning 3D Scene Structure from a Single Still Image
IEEE Transactions on Pattern Analysis and Machine Intelligence
Color learning and illumination invariance on mobile robots: A survey
Robotics and Autonomous Systems
The GuideCane-applying mobile robot technologies to assist thevisually impaired
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
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In this paper, we present a real-time obstacle detection system for the mobility improvement for the visually impaired using a handheld Smartphone. Though there are many existing assistants for the visually impaired, there is not a single one that is low cost, ultra-portable, non-intrusive and able to detect the low-height objects on the floor. This paper proposes a system to detect any objects attached to the floor regardless of their height. Unlike some existing systems where only histogram or edge information is used, the proposed systemcombines both cues and overcomes some limitations of existing systems. The obstacles on the floor in front of the user can be reliably detected in real time using the proposed system implemented on a Smartphone. The proposed system has been tested in different types of floor conditions and a field trial on five blind participants has been conducted. The experimental results demonstrate its reliability in comparison to existing systems.