A Highly Accurate And Reliable Data Fusion Framework For Guiding The Visually Impaired

The world has approximately 285 million visually impaired (VI) people according to a report by the World Health Organization. Thirty-nine million people are estimated to be blind, whereas 246 million people are estimated to have impaired vision. An important factor that motivated this research is the fact that 90% of VI people live in developing countries. Several systems have been designed to improve the quality of the life of VI people and support the mobility of VI people. Unfortunately, none of these systems provides a complete solution for VI people, and the systems are very expensive. Therefore, this work presents an intelligent framework that includes several types of sensors embedded in a wearable device to support the visually impaired (VI) community. The proposed work is based on an integration of sensor-based and computer vision-based techniques in order to introduce an efficient and economical visual device. The designed algorithm is divided to two components: obstacle detection and collision avoidance. The system has been implemented and tested in real-time scenarios. A video dataset of 30 videos and an average of 700 frames per video was fed to the system for the testing purpose. The achieved 96.53% accuracy rate of the proposed sequence of techniques that are used for real-time detection component is based on a wide detection view that used two camera modules and a detection range of approximately 9 meters. The 98% accuracy rate was obtained for a larger dataset. However, the main contribution in this work is the proposed novel collision avoidance approach that is based on the image depth and fuzzy control rules. Through the use of x-y coordinate system, we were able to map the input frames, whereas each frame was divided into three areas vertically and further 1/3 of the height of that frame horizontally in order to specify the urgency of any existing obstacles within that frame. In addition, we were able to provide precise information to help the VI user in avoiding front obstacles using the fuzzy logic. The strength of this proposed approach is that it aids the VI users in avoiding 100% of all detected objects. Once the device is initialized, the VI user can confidently enter unfamiliar surroundings. Therefore, this implemented device can be described as accurate, reliable, friendly, light, and economically accessible that facilitates the mobility of VI people and does not require any previous knowledge of the surrounding environment. Finally, our proposed approach was compared with most efficient introduced techniques and proved to outperform them

Analysis of Navigation Assistants for Blind and Visually Impaired People: A Systematic Review

Over the last few decades, the development in the field of navigation and routing devices has become a hindering task for the researchers to develop smart and intelligent guiding mechanism at indoor and outdoor locations for blind and visually impaired people (BVIPs). The existing research need to be analysed from a historical perception including early research on the first electronic travel aids to the use of modern artificial vision models for the navigation of BVIPs. Diverse approaches such as: e-cane or guide dog, infrared-based cane, laser based walker and many others are proposed for the navigation of BVIPs. But most of these techniques have limitations such as: infrared and ultrasonic based assistance has short range capacities for object detection. While laser based assistance can harm other people if it directly hit them on their eyes or any other part of the body. These trade-offs are critical to bring this technology in practice.To systematically assess, analyze, and identify the primary studies in this specialized field and provide an overview of the trends and empirical evidence in the proposed field. This systematic research work is performed by defining a set of relevant keywords, formulating four research questions, defining selection criteria for the articles, and synthesizing the empirical evidence in this area. Our pool of studies include 191 most relevant articles to the proposed field reported between 2011 and 2020 (a portion of 2020 is included). This systematic mapping will help the researchers, engineers, and practitioners to make more authentic decisions for finding gaps in the available navigation assistants and suggest a new and enhanced smart assistant application accordingly to ensure safety and accurate guidance of the BVIPs. This research work have several implications in particular the impact of reducing fatalities and major injuries of BVIPs.Qatar University [IRCC-2020-009]

MULTI-SENSOR LOCALIZATION AND TRACKING IN DISASTER MANAGEMENT AND INDOOR WAYFINDING FOR VISUALLY IMPAIRED USERS

This dissertation proposes a series of multi-sensor localization and tracking algorithms particularly developed for two important application domains, which are disaster management and indoor wayfinding for blind and visually impaired (BVI) users. For disaster management, we developed two different localization algorithms, one each for Radio Frequency Identification (RFID) and Bluetooth Low Energy (BLE) technology, which enable the disaster management system to track patients in real-time. Both algorithms work in the absence of any pre-deployed infrastructure along with smartphones and wearable devices. Regarding indoor wayfinding for BVI users, we have explored several types of indoor positioning techniques including BLE-based, inertial, visual and hybrid approaches to offer accurate and reliable location and orientation in complex navigation spaces. In this dissertation, significant contributions have been made in the design and implementation of various localization and tracking algorithms under different requirements of certain applications

Blind guide: anytime, anywhere

Sight dominates our mental life, more than any other sense. Even when we are just thinking about something the world, we end imagining what looks like. This rich visual experience is part of our lives. People need the vision for two complementary reasons. One of them is vision give us the knowledge to recognize objects in real time. The other reason is vision provides us the control one need to move around and interact with objects. Eyesight helps people to avoid dangers and navigate in our world. Blind people usually have enhanced accuracy and sensibility of their other natural senses to sense their surroundings. But sometimes this is not enough because the human senses can be affected by external sources of noise or disease. Without any foreign aid or device, sightless cannot navigate in the world. Many assistive tools have been developed to help blind people. White canes or guide dogs help blind in their navigation. Each device has their limitation. White canes cannot detect head level obstacles, drop-offs, and obstructions over a meter away. The training of a guide dog takes a long time, almost five years in some cases. The sightless also needs training and is not a solution for everybody. Taking care of a guide dog can be expensive and time consuming. Humans have developed technology for helping us in every aspect of our lives. The primary goal of technology is helping people to improve their quality of life. Technology can assist us with our limitations. Wireless sensor networks is a technology that has been used to help people with disabilities. In this dissertation, the author proposes a system based on this technology called Blind Guide. Blind Guide is an artifact that helps blind people to navigate in indoors or outdoors scenarios. The prototype is portable assuring that can be used anytime and anywhere. The system is composed of wireless sensors that can be used in different parts of the body. The sensors detect an obstacle and inform the user with an audible warning providing a safety walk to the users. A great feature about Blind Guide is its modularity. The system can adapt to the needs of the user and can be used in a combination with other solution. For example, Blind Guide can be used in conjunction with the white cane. The white cane detects obstacles below waist level and a Blind Guide wireless sensor in the forehead can detect obstacles at the head level. This feature is important because some sightless people feel uncomfortable without the white cane. The system is scalable giving us the opportunity to create a network of interconnected Blind Guide users. This network can store the exact location and description of the obstacles found by the users. This information is public for all users of this system. This feature reduces the time required for obstacle detection and consequent energy savings, thus increasing the autonomy of the solution. One of the main requirements for the development of this prototype was to design a low-cost solution that can be accessible for anyone around the world. All the components of the solution can provide a low-cost solution, easily obtainable and at a low cost. Technology makes our life easier and it must be available for anyone. Modularity, portability, scalability, the possibility to work in conjunction with other solutions, detecting objects that other solutions cannot, obstacle labeling, a network of identified obstacles and audible warnings are the main aspects of the Blind Guide system. All these aspects makes Blind Guide an anytime, anywhere solution for blind people. Blind Guide was tested with a group of volunteers. The volunteers were sightless and from different ages. The trials performed to the system show us positive results. The system successfully detected incoming obstacles and informed in real time to its users. The volunteers gave us a positive feedback telling that they felt comfortable using the prototype and they believe that the system can help them with their daily routine

The always best positioned paradigm for mobile indoor applications

In this dissertation, methods for personal positioning in outdoor and indoor environments are investigated. The Always Best Positioned paradigm, which has the goal of providing a preferably consistent self-positioning, will be defined. Furthermore, the localization toolkit LOCATO will be presented, which allows to easily realize positioning systems that follow the paradigm. New algorithms were developed, which particularly address the robustness of positioning systems with respect to the Always Best Positioned paradigm. With the help of this toolkit, three example positioning-systems were implemented, each designed for different applications and requirements: a low-cost system, which can be used in conjunction with user-adaptive public displays, a so-called opportunistic system, which enables positioning with room-level accuracy in any building that provides a WiFi infrastructure, and a high-accuracy system for instrumented environments, which works with active RFID tags and infrared beacons. Furthermore, a new and unique evaluation-method for positioning systems is presented, which uses step-accurate natural walking-traces as ground truth. Finally, six location based services will be presented, which were realized either with the tools provided by LOCATO or with one of the example positioning-systems.In dieser Doktorarbeit werden Methoden zur Personenpositionierung im Innen- und Außenbereich von Gebäuden untersucht. Es wird das ,,Always Best Positioned” Paradigma definiert, welches eine möglichst lückenlose Selbstpositionierung zum Ziel hat. Weiterhin wird die Lokalisierungsplattform LOCATO vorgestellt, welche eine einfache Umsetzung von Positionierungssystemen ermöglicht. Hierzu wurden neue Algorithmen entwickelt, welche gezielt die Robustheit von Positionierungssystemen unter Berücksichtigung des ,,Always Best Positioned” Paradigmas angehen. Mit Hilfe dieser Plattform wurden drei Beispiel Positionierungssysteme entwickelt, welche unterschiedliche Einsatzgebiete berücksichtigen: Ein kostengünstiges System, das im Zusammenhang mit benutzeradaptiven öffentlichen Bildschirmen benutzt werden kann; ein sogenanntes opportunistisches Positionierungssystem, welches eine raumgenaue Positionierung in allen Gebäuden mit WLAN-Infrastruktur ermöglicht, sowie ein metergenaues Positionierungssystem, welches mit Hilfe einer Instrumentierung aus aktiven RFID-Tags und Infrarot-Baken arbeitet. Weiterhin wird erstmalig eine Positionierungsevaluation vorgestellt, welche schrittgenaue, natürliche Bewegungspfade als Referenzsystem einsetzt. Im Abschluss werden 6 lokationsbasierte Dienste vorgestellt, welche entweder mit Hilfe von LOCATO oder mit Hilfe einer der drei Beispiel-Positionierungssysteme entwickelt wurden

Integrated Satellite-terrestrial networks for IoT: LoRaWAN as a Flying Gateway

When the Internet of Things (IoT) was introduced, it causes an immense change in human life. Recently, different IoT emerging use cases, which will involve an even higher number of connected devices aimed at collecting and sending data with different purposes and over different application scenarios, such as smart city, smart factory, and smart agriculture. In some cases, the terrestrial infrastructure is not enough to guarantee the typical performance indicators due to its design and intrinsic limitations. Coverage is an example, where the terrestrial infrastructure is not able to cover certain areas such as remote and rural areas. Flying technologies, such as communication satellites and Unmanned Aerial Vehicles (UAVs), can contribute to overcome the limitations of the terrestrial infrastructure, offering wider coverage, higher resilience and availability, and improving user\u2019s Quality of Experience (QoE). IoT can benefit from the UAVs and satellite integration in many ways, also beyond the coverage extension and the increase of the available bandwidth that these objects can offer. This thesis proposes the integration of both IoT and UAVs to guarantee the increased coverage in hard to reach and out of coverage areas. Its core focus addresses the development of the IoT flying gateway and data mule and testing both approaches to show their feasibility. The first approach for the integration of IoT and UAV results in the implementing of LoRa flying gateway with the aim of increasing the IoT communication protocols\u2019 coverage area to reach remote and rural areas. This flying gateway examines the feasibility for extending the coverage in a remote area and transmitting the data to the IoT cloud in real-time. Moreover, it considers the presence of a satellite between the gateway and the final destination for areas with no Internet connectivity and communication means such as WiFi, Ethernet, 4G, or LTE. The experimental results have shown that deploying a LoRa gateway on board a flying drone is an ideal option for the extension of the IoT network coverage in rural and remote areas. The second approach for the integration of the aforementioned technologies is the deployment of IoT data mule concept for LoRa networks. The difference here is the storage of the data on board of the gateway and not transmitting the data to the IoT cloud in real time. The aim of this approach is to receive the data from the LoRa sensors installed in a remote area, store them in the gateway up until this flying gateway is connected to the Internet. The experimental results have shown the feasibility of our flying data mule in terms of signal quality, data delivery, power consumption and gateway status. The third approach considers the security aspect in LoRa networks. The possible physical attacks that can be performed on any LoRa device can be performed once its location is revealed. Position estimation was carried out using one of the LoRa signal features: RSSI. The values of RSSI are fed to the Trilateration localization algorithm to estimate the device\u2019s position. Different outdoor tests were done with and without the drone, and the results have shown that RSSI is a low cost option for position estimation that can result in a slight error due to different environmental conditions that affect the signal quality. In conclusion, by adopting both IoT technology and UAV, this thesis advances the development of flying LoRa gateway and LoRa data mule for the aim of increasing the coverage of LoRa networks to reach rural and remote areas. Moreover, this research could be considered as the first step towards the development of high quality and performance LoRa flying gateway to be tested and used in massive LoRa IoT networks in rural and remote areas

State-of-the-Art Review on Wearable Obstacle Detection Systems Developed for Assistive Technologies and Footwear

Walking independently is essential to maintaining our quality of life but safe locomotion depends on perceiving hazards in the everyday environment. To address this problem, there is an increasing focus on developing assistive technologies that can alert the user to the risk destabilizing foot contact with either the ground or obstacles, leading to a fall. Shoe-mounted sensor systems designed to monitor foot-obstacle interaction are being employed to identify tripping risk and provide corrective feedback. Advances in smart wearable technologies, integrating motion sensors with machine learning algorithms, has led to developments in shoe-mounted obstacle detection. The focus of this review is gait-assisting wearable sensors and hazard detection for pedestrians. This literature represents a research front that is critically important in paving the way towards practical, low-cost, wearable devices that can make walking safer and reduce the increasing financial and human costs of fall injuries

On a wildlife tracking and telemetry system : a wireless network approach

Includes abstract.Includes bibliographical references (p. 239-261).Motivated by the diversity of animals, a hybrid wildlife tracking system, EcoLocate, is proposed, with lightweight VHF-like tags and high performance GPS enabled tags, bound by a common wireless network design. Tags transfer information amongst one another in a multi-hop store-and-forward fashion, and can also monitor the presence of one another, enabling social behaviour studies to be conducted. Information can be gathered from any sensor variable of interest (such as temperature, water level, activity and so on) and forwarded through the network, thus leading to more effective game reserve monitoring. Six classes of tracking tags are presented, varying in weight and functionality, but derived from a common set of code, which facilitates modular tag design and deployment. The link between the tags means that tags can dynamically choose their class based on their remaining energy, prolonging lifetime in the network at the cost of a reduction in function. Lightweight, low functionality tags (that can be placed on small animals) use the capabilities of heavier, high functionality devices (placed on larger animals) to transfer their information. EcoLocate is a modular approach to animal tracking and sensing and it is shown how the same common technology can be used for diverse studies, from simple VHF-like activity research to full social and behavioural research using wireless networks to relay data to the end user. The network is not restricted to only tracking animals – environmental variables, people and vehicles can all be monitored, allowing for rich wildlife tracking studies