Obstacle Detection and Avoidance on Sidewalks

  title={Obstacle Detection and Avoidance on Sidewalks},
  author={D. Castells and Jo{\~a}o Fabr{\'i}cio Mota Rodrigues and J. M. Hans du Buf},
We present part of a vision system for blind and visually impaired people. It detects obstacles on sidewalks and provides guidance to avoid them. Obstacles are trees, light poles, trash cans, holes, branches, stones and other objects at a distance of 3 to 5 meters from the camera position. The system first detects the sidewalk borders, using edge information in combination with a tracking mask, to obtain straight lines with their slopes and the vanishing point. Once the borders are found, a… CONTINUE READING