1Navigation Assistance for the Visually Impaired Using RGB-D Sensor with Range Expansion

refers to systems that are able to assist or guide people with vision loss, ranging from partially sighted to totally blind, by means of sound commands. In this paper, a new system for NAVI is presented based on visual and range information. Instead of using several sensors, we choose one device, a consumer RGB-D camera and take advantage of both range and visual information. In particular, the main contribution is the combination of depth information with image intensities resulting in the robust expansion of the range-based floor segmentation. On the one hand, depth information, which is reliable but limited to a short range, is enhanced with the long-range visual information. On the other hand, the difficult and prone to error image processing is eased and improved with depth information. The proposed system detects and classifies the main structural elements of the scene providing the user with obstacle-free paths in order to navigate safely across unknown scenarios. The proposed system has been tested on a wide variety of scenarios and datasets, giving successful results and showing that the system is robust and works in challenging indoor environments. Index Terms—Visually impaired assistance, NAVI, Range and vision, Wearable system, RGB-D camera