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

Table 2

Parameters of performance and for configuring the system.

Parameter	Description	Value
,	Camera resolution and frames per second	, 15 fps
	Range of measurement in depth	[0.40 m; 3.00 m]
	Horizontal field of view of measurements	80°
	Threshold in -component of unit normal vector	0.80
	Threshold in -component of points (c. chest)	0.80 m
	Threshold in -component of points (c. head)	1.00 m
,	Maximum iterations and threshold for RANSAC	104 iter., 0.06 m
,	Size of the grid in and direction	20 m, 20 m
	Size of one squared cell	0.05 m
	Radio of the semicircle for detecting obstacles	0.80 m
	Minimum height for detecting an obstacle	0.20 m
	Maximum height of a hanging obstacle (c. chest)	0.75 m
	Maximum height of a hanging obstacle (c. head)	1.50 m