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

<div>3D points that fulfil the conditions for its unit normal vector, <span class="nowrap"><svg height="16.1952pt" id="M55" style="vertical-align:-6.90687pt" version="1.1" viewbox="-0.0498162 -9.28833 93.3338 16.1952" width="93.3338pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,.796,-.222)"><path d="M470 557C393 591 314 624 246 666H224C156 624 76 591 0 557L12 532C86 550 163 573 235 596C309 572 384 550 458 532L470 557Z"></path></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M495 86L479 114C446 82 419 66 409 66C401 66 401 72 406 97C420 166 436 231 453 297C489 435 454 448 428 448C406 448 384 439 354 422C305 394 222 327 161 247H159L183 345C200 415 194 448 173 448C143 448 82 410 23 351L38 325C64 349 95 371 105 371C111 371 116 365 109 336L25 -4L31 -12C50 -4 77 3 107 9C119 69 132 122 145 168C197 254 321 381 370 381C387 381 393 374 378 305L329 95C309 17 320 -12 345 -12C372 -12 430 19 495 86Z"></path></g><g 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Its number is denoted as <i>activePoints</i>. The camera is represented as a coordinate system with the current camera pose.</div>

Journal of Sensors

fig6

Figure 6

Figure 6: Vision-Based System for Assisting Blind People to Wander Unknown Environments in a Safe Way 