以視覺為基礎之盲人導航系統

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姓名

林煒傑(Wei-chieh Lin) 查詢紙本館藏

畢業系所

生物醫學工程研究所

論文名稱

以視覺為基礎之盲人導航系統
(An Imaged-based Navigation System for the Blind)

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摘要(中)

本論文中利用Kinect感應器，來建立盲人行走輔助系統。系統提供四種模式，行走模式、探索模式、定位模式和過馬路模式。(1) 行走模式: 用感應器提供的深度資訊，藉由路面偵測演算法，並將深度轉為三維空間資訊，建立出環境資訊，偵測障礙物。(2) 探索模式：由感應器的色彩資訊，用SURF (Speeded-Up Robust Feature) 偵測特徵點和追蹤，使用最小平方誤差法計算出影像之間特徵點空間座標轉換矩陣，並建立平面地圖和地標特徵資訊。(3) 定位模式：從地圖中搜尋目前所在的位置座標和方向。(4) 過馬路模式：利用彩色影像來偵測行人穿越道的位置和路寬。
本論文提出用路面偵測演算法將使用者行走之路面切割出來，並即時的告知使用者障礙物的位置。提供室內地圖資料庫的建立、管理和定位的方式，讓視障人士可以知道目前在於室內的位置和方向。我們也提供行人穿越道偵測，協助視障人士安全的通過馬路。並且使用語音辨識來控制系統模式的切換，和直覺的語音提示告知使用者環境資訊。希望藉由此系統和搭配白手杖的使用，即能令目前導盲的輔具化被動為主動，讓視障人士的行動更自由。

摘要(英)

In this thesis, we use the Kinect sensor to establish a navigation system for the blind. The systems provide four modes, walk mode, exploring mode, positioning mode and cross road mode. (1) Walking mode: The system uses depth information and floor detection algorithms to build environmental information and detect obstacles. (2) Exploring modes: The system detects SURF (Speeded-Up Robust Feature) feature points and tracking feature points by the color information from the sensor. We calculate the coordinate transformation matrix between two images and create a map by the method of least-square. (3) Positioning mode: Search the current location coordinates and direction in the map. (4) Crossing road mode: The system uses color images to detect the crosswalk location and width of the road.
In this thesis, we proposed that the floor detection algorithm to segment the floor region from depth information, and real-time tell the blind obstacle position. And we provide indoor map database to establish, manage and position method. The blind people can know the position and orientation in indoor. We also provide a crosswalk detection to help the blind safety cross road. And we use speech recognition to control the system mode. The system will use the voice to tell who the blind surrounding environment information. With the information about the environment the blind will have less fear in walking through unfamiliar environments via white canes.

關鍵字(中)

★ 定位
★ 路面偵測
★ 導航
★ 障礙物偵測
★ 行人穿越道偵測
★ 視覺障礙者

關鍵字(英)

★ crosswalk detection
★ floor detection
★ obstacle detection
★ positioning
★ navigation
★ blind

論文目次

目錄
中文摘要 i
ABSTRACT iii
致謝 v
目錄 vi
圖目錄List of Figures x
表目錄List of Tables xiv
第一章、緒論 1
1-1 研究動機 1
1-2 研究目的 2
1-3 論文架構 3
第二章、相關研究 4
2-1 導盲輔具相關介紹 4
2-1-1電子式行進輔具 4
2-1-2引導式機器人 5
2-1-3穿戴式輔具 6
2-1-4導引式手杖 7
2-1-5 機器導盲犬 8
2-1-6電子晶片或人工視網膜植入 9
2-1-7導盲輔具之探討 9
2-2空間定位技術 11
2-3同步定位與地圖建置技術 12
2-4行人穿越道偵測技術 14
2-5 Kinect介紹 15
2-5-1設備規格 16
2-5-2系統需求 17
2-5-3 Kinect相關應用 18
第三章、研究方法與步驟 20
3-1 系統架構 20
3-2 行走模式 21
3-2-1 路面偵測 22
3-2-2座標系轉換 27
3-2-3障礙物偵測 29
3-3 探索模式 32
3-3-1特徵點偵測與追蹤 32
3-3-2座標轉換矩陣計算 35
3-3-3建立地標資訊 38
3-4 定位模式 41
3-4-1地圖搜索 41
3-4-2地圖定位 43
3-5 過馬路模式 44
3-5-1行人穿越道偵測 46
3-5-2行人穿越道方向與路寬 49
第四章、人機介面與應用 50
4-1 系統環境 50
4-2 語音系統 51
4-3 系統操作流程 52
第五章、實驗設計與結果 55
5-1 行走模式實驗 55
5-1-1路面切割與閥值設定實驗 55
5-1-2行走模式實驗討論 59
5-2 探索模式實驗 60
5-2-1直行測試實驗 61
5-2-2旋轉角度實驗 62
5-2-3實際地圖建立測試 64
5-2-4探索模式實驗討論 66
5-3 定位模式實驗 67
5-3-1地點定位實驗 67
5-3-2定位模式實驗討論 68
5-4 過馬路模式實驗 68
5-4-1行人穿越道偵測實驗 68
5-4-2過馬路模式實驗討論 70
第六章、結論與未來展望 73
6-1 結論 73
6-2 未來展望 74
參考文獻 76
附錄一、行人穿越道測試資料集 83

參考文獻

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指導教授

蘇木春(Mu-chun Su)

審核日期

2012-7-25

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