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-preview.hindawi.com/articles/js/volume-2016/3754918/figures/3754918.fig.0014a.svgz" name="3754918.fig.0014a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Captured image</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/js/volume-2016/3754918/figures/3754918.fig.0014b.svgz" name="3754918.fig.0014b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Detected ground plane</td></tr><tr class="fig-image" id="c"><td><object data="https://static-preview.hindawi.com/articles/js/volume-2016/3754918/figures/3754918.fig.0014c.svgz" name="3754918.fig.0014c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Captured image</td></tr><tr class="fig-image" id="d"><td><object data="https://static-preview.hindawi.com/articles/js/volume-2016/3754918/figures/3754918.fig.0014d.svgz" name="3754918.fig.0014d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Detected ground plane</td></tr></table>

<div>Some examples of ground plane detection: (a) color image of the scene; (b) result of ground plane detection.</div>

Journal of Sensors

fig14

Figure 14

Figure 14: Real-Time Obstacle Detection System in Indoor Environment for the Visually Impaired Using Microsoft Kinect Sensor 