Vision-Based System for Assisting Blind People to Wander Unknown Environments in a Safe Way

Figure 1

Camera located (a) in the chest and (b) in the head of the user. The camera is pointing down, defining an angle with respect to the horizon (upper coordinate system). Its height with respect the floor is . We want to move the points associated to the floor to the -plane of the lower coordinate system so we can differentiate obstacles from floor by evaluating the height of the points.

(a)

(b)