A ground and obstacle detection algorithm for the visually impaired

2015 ◽  
Author(s):  
Ruiqi Cheng ◽  
Kailun Yang ◽  
Kaiwei Wang ◽  
Xiangdong Zhao
Keyword(s):  
Visually Impaired ◽  
Detection Algorithm ◽  
Obstacle Detection

A Fast Obstacle Detection Algorithm for Mobile Robots and Its Application

ROBOT ◽  
2011 ◽  
Vol 33 (2) ◽  
pp. 198-201 ◽  
Author(s):  
Xiaochuan ZHAO ◽  
Peizhi LIU ◽  
Min ZHANG ◽  
Lihui YANG ◽  
Jianchang SHI
Keyword(s):  
Mobile Robots ◽  
Detection Algorithm ◽  
Obstacle Detection

A noise-robust obstacle detection algorithm for mobile robots using active 3D sensors

2014 ◽  
Author(s):  
Andrea Claudi ◽  
Daniele Accattoli ◽  
Paolo Sernani ◽  
Paolo Calvaresi ◽  
Aldo Franco Dragoni
Keyword(s):  
Mobile Robots ◽  
Detection Algorithm ◽  
Obstacle Detection ◽  
Noise Robust

Negative Obstacle Detection Using LiDAR Sensors for a Robotic Wheelchair

2018 ◽  
Author(s):  
Taylor E. Baum ◽  
Kelilah L. Wolkowicz ◽  
Joseph P. Chobot ◽  
Sean N. Brennan
Keyword(s):  
Time Algorithm ◽  
Detection Algorithm ◽  
Obstacle Detection ◽  
Detection Accuracy ◽  
Time Varying ◽  
Wheelchair Users ◽  
Development Platform ◽  
Robotic Wheelchairs ◽  
Robotic Wheelchair ◽  
Negative Obstacle

The objective of this work is to develop a negative obstacle detection algorithm for a robotic wheelchair. Negative obstacles — depressions in the surrounding terrain including descending stairwells, and curb drop-offs — present highly dangerous navigation scenarios because they exhibit wide characteristic variability, are perceptible only at close distances, and are difficult to detect at normal operating speeds. Negative obstacle detection on robotic wheelchairs could greatly increase the safety of the devices. The approach presented in this paper uses measurements from a single-scan laser range-finder and a microprocessor to detect negative obstacles. A real-time algorithm was developed that monitors time-varying changes in the measured distances and functions through the assumption that sharp increases in this monitored value represented a detected negative obstacle. It was found that LiDAR sensors with slight beam divergence and significant error produced impressive obstacle detection accuracy, detecting controlled examples of negative obstacles with 88% accuracy for 6 cm obstacles and above on a robotic development platform and 90% accuracy for 7.5 cm obstacles and above on a robotic wheelchair. The implementation of this algorithm could prevent life-changing injuries to robotic wheelchair users caused by negative obstacles.

scholarly journals Development and optimization of a portable guidance system for the blind and visually impaired with the application of artificial intelligence

2021 ◽  
Author(s):  
Tamas Nemes
Keyword(s):  
Artificial Intelligence ◽  
Visually Impaired ◽  
Obstacle Detection ◽  
Guidance System ◽  
Performance Standard ◽  
Audio Signals ◽  
Blind And Visually Impaired ◽  
Improve Accuracy ◽  
New Type ◽  
Map Accuracy

This work describes a new type of portable, self-regulating guidance system, which learns to recognize obstacles with the help of a camera, artificial intelligence, and various sensors and thus warn the wearer through audio signals. For obstacle detection, a MobileNetV2 model with an SSD attachment is used which was trained on a custom dataset. Moreover, the system uses the data of motion and distance sensors to improve accuracy. Experimental results confirm that the system can operate with 74.9% mAP accuracy and a reaction time of 0.15 seconds, meeting the performance standard for modern object detection applications. It will also be presented how those affected commented on the device and how the system could be transformed into a marketable product.

scholarly journals A Hands-Free Obstacle Detection and Avoidance System

2015 ◽  
Vol 5 (3) ◽  
pp. 801-804
Author(s):  
M. Abdul-Niby ◽  
M. Alameen ◽  
O. Irscheid ◽  
M. Baidoun ◽  
H. Mourtada
Keyword(s):  
Obstacle Avoidance ◽  
Visually Impaired ◽  
Low Cost ◽  
Cost Effective ◽  
Obstacle Detection ◽  
Text To Speech ◽  
Voice Signal ◽  
Visually Impaired People ◽  
Impaired People ◽  
The Voice

In this paper, we present a low cost hands-free detection and avoidance system designed to provide mobility assistance for visually impaired people. An ultrasonic sensor is attached to the jacket of the user and detects the obstacles in front. The information obtained is transferred to the user through audio messages and also by a vibration. The range of the detection is user-defined. A text-to-speech module is employed for the voice signal. The proposed obstacle avoidance device is cost effective, easy to use and easily upgraded.

Smooth Track-Keeping and Real Time Obstacle Detection Algorithm and its PID Controller Implementation for an Automated Wheeled Line Following Robot

2011 ◽  
Vol 201-203 ◽  
pp. 1966-1971 ◽  
Author(s):  
Mohammad Rokonuzzaman ◽  
Shah Muhammad Ferdous ◽  
Enaiyat Ghani Ovy ◽  
Md. Ashraful Hoque
Keyword(s):  
Mobile Robot ◽  
Pid Controller ◽  
Material Handling ◽  
Moving Objects ◽  
Detection Algorithm ◽  
Acute Angle ◽  
Obstacle Detection ◽  
Response Position ◽  
Wavy Line ◽  
Line Following

Line following automated robots is extensively used in industries for smooth running of production. This paper presents a simple and effective solution for path tracking problem for a wheeled automated mobile robot which can be used for material handling in industries. A PID controller has been used for controlling the robot which is capable of moving safely by smooth track-keeping in partially structured environment without any collision with static or moving objects. The purpose of the project is to build a mobile robot which will provide fast, smooth, accurate and safe movement in any given line or track. A straight or wavy line would be simple to follow whereas aT-junction, 90 degree bends, acute angle bends and grid junctions would be difficult to navigate through. This is due to the physical kinematics constraints which are limited to motor response, position and turning radius of the robot. A line sensor configuration has been proposed to improve the navigation reliability of the mobile robot which uses differential drive system. A dynamic algorithm has been developed for detecting and following a specified line which ensures the reliable and safe movement of the robot.

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