Obstacle detection method for blind guiding instrument based on computer stereo vision

Abstract

The invention relates to an obstacle detection method for a blind guiding instrument based on computer stereo vision. According to the invention, an obstacle on the road are detected by using computer stereo vision technologies, the position and contour coordinates of the obstacle are acquired, and a necessary information source is provided for guiding the blind to walk forward. The method is characterized in that road surface images are acquired simultaneously through a binocular camera worn on the body of the blind, feature points in binocular images are extracted by using a feature extraction algorithm, and feature point matching is carried out; then three-dimensional coordinates of a matching point in a left camera coordinate system are calculated, a road surface plane equation is worked out according to the three-dimensional coordinates of the matching point by using a random consistency algorithm; and finally, an obstacle area is distinguished according to the road surface plane equation, and the position and contour coordinates of the obstacle are calculated, thereby providing necessary information for helping the blind to walk forward. According to the invention, road surface obstacle information is provided for travel of the blind, thereby improving travel safety of the blind, and being applicable to the blind guiding instrument so as to guide the blind in travel.

Description

technical field [0001] The invention relates to a computer vision-based obstacle detection method applied to a blind guide, which can help blind people detect obstacles while walking. Background technique [0002] Blind people lose their vision due to congenital or acquired physical defects, thus losing the most important source of knowledge and experience, which has caused great obstacles to the daily life of blind people, especially restricting their travel activities. How to help blind people avoid obstacles on the road during daily travel has also become the focus of research. In order to solve this problem, people have researched many methods, such as non-visual detection methods such as blind sticks, infrared detection, and ultrasonic detection. However, these methods have great defects: using blind sticks to detect, the detection range is too small; using infrared, ultrasonic and other detection methods, only large obstacles can be detected, and complete information ...

AI Technical Summary

Problems solved by technology

[0003] The technical solution of the present invention is to overcome the deficiencies of the prior art, provide a method for detecting obstacles based on computer stereo vision blind guides, and solve the problem that existing blind guide algorithms are difficult to obtain obstacle information on the route of blind people. To form a safe blind guide strategy and provide favorable conditions for improving the travel safety of the blind

Images