Vision-Based System for Assisting Blind People to Wander Unknown Environments in a Safe Way
Table 6
Performance with respect to time.
Process
Time (ms)
Get depth, color, and tracking data from camera. Validate data.
40.27
Display depth and color images. Concatenate transformation.
8.39
Compute point cloud referenced to camera frame.
1.72
Compute point cloud and normals, with transformations that make normal vectors parallel to gravity vector. Apply the two criteria for initial floor segmentation.
6.14
Apply RANSAC for estimating the equation of the plane that best fits to points of the initial segmentation of the floor.
73.84
Build a global occupancy 2D grid.
3.72
Execute a reactive navigation algorithm for avoiding obstacles.
0.22
Activate the haptic belt according to close obstacles in the grid.
0.01
Display the grid, the pose of the user, the trajectory, and the activation of the motors in OpenGL.
