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

Figure 17

Experiment carried out with the camera located in the head and with a hanging obstacle. (a) Location of the camera. (b) Depth and (c) color images of a box hanging at a height of 1.50 m. (d) Occupancy grid with the projection of the box and with activation of the frontal motor.

(a)

(b)

(c)

(d)