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

Figure 14

(a) RGB and (b) depth images of a paved courtyard from the first frame. (c) Occupancy 2D grid for this frame. The camera is located in the chest. The angle of the camera with respect to the horizon is approximately 30°, the size of the squared cells is 0.05 m, the horizontal field of view of the camera is 80°, the maximum depth is 3.00 m, and the radio of the semicircle for activating the motors is 0.80 m.

(a)

(b)

(c)