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Intelligent Situation Awareness and ...

Li, Bing.

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Intelligent Situation Awareness and Navigation Aid for Visually Impaired Persons.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Intelligent Situation Awareness and Navigation Aid for Visually Impaired Persons./
作者:	Li, Bing.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2018,
面頁冊數:	130 p.
附註:	Source: Dissertation Abstracts International, Volume: 79-12(E), Section: B.
Contained By:	Dissertation Abstracts International79-12B(E).
標題:	Robotics. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10825666
ISBN:	9780438265820

Intelligent Situation Awareness and Navigation Aid for Visually Impaired Persons.
Li, Bing.

Intelligent Situation Awareness and Navigation Aid for Visually Impaired Persons. - Ann Arbor : ProQuest Dissertations & Theses, 2018 - 130 p.

Source: Dissertation Abstracts International, Volume: 79-12(E), Section: B.

Thesis (Ph.D.)--The City College of New York, 2018.

Geographic information systems have facilitated outdoor travel in recent decades, while indoor navigation systems have increased in demand, especially for those who are blind and visually impaired (BVI). Based on robotic and visual simultaneous localization and mapping (SLAM) techniques, a holistic intelligent situation awareness and navigation aid (ISANA) solution is proposed to help BVI individuals with indoor travel. Leveraging by visual pose estimation, ISANA has the merits of context awareness, navigation aid with obstacle avoidance, intelligent situation awareness, and a multi-modal human-machine interface (HMI).

ISBN: 9780438265820Subjects--Topical Terms:

519753
Robotics.

Intelligent Situation Awareness and Navigation Aid for Visually Impaired Persons.
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520 $a Geographic information systems have facilitated outdoor travel in recent decades, while indoor navigation systems have increased in demand, especially for those who are blind and visually impaired (BVI). Based on robotic and visual simultaneous localization and mapping (SLAM) techniques, a holistic intelligent situation awareness and navigation aid (ISANA) solution is proposed to help BVI individuals with indoor travel. Leveraging by visual pose estimation, ISANA has the merits of context awareness, navigation aid with obstacle avoidance, intelligent situation awareness, and a multi-modal human-machine interface (HMI).
520 $a We present a semantic map construction approach and indoor map editor to build a global 2D traversable grid map layer and context-aware layers, which enable waypoint-based path planning. We propose a novel map alignment algorithm to establish the spatial relationship between the visual feature map and the semantic map. Therefore, ISANA achieves semantic localization to perform path planning, assistive navigation aid, and situation awareness tasks.
520 $a We develop an efficient obstacle detection and avoidance method that augments navigation safety and adjusts the path in real-time. Using the on-board RGB-D camera, ISANA geometrically detects obstacles and estimates their motion using a time-stamped map Kalman filter (TSM-KF) approach.
520 $a We propose a deep learning pedestrian detection and tracking approach to enhance intelligent situation awareness for BVI users. Based on a fine-tuned convolutional neural network (CNN) model, ISANA detects the pedestrian and its motion for traffic flow awareness.
520 $a We implement ISANA on portable Google Tango mobile devices. A multi-modal HMI is designed with a speech-audio interface and robust haptic interaction through an electronic SmartCane. The SmartCane consists of a handle with a keypad for user tactile input, vibration motors for haptic feedback, and a rolling tip to indicate accurate turning direction. Our experimental tests with blindfolded and blind subjects demonstrate the effectiveness of ISANA for assistive navigation in indoor environments.
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