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

Figure 15

Six boxes separated each other 0.60 m and ordered in descendent height from left to right. (a) RGB image focusing the initial three boxes and (b) occupancy 2D grid for a short lateral displacement. (c) RGB image that shows the remaining boxes on the right and (d) occupancy 2D grid for a longer lateral displacement. The motion is lateral but always facing the boxes. The angle of the camera with respect to the horizon is approximately 30°, and the size of the squared cells is 0.05 m.

(a)

(b)

(c)

(d)