Fuzzy Free Path Detection from Disparity Maps by Using Least-Squares Fitting to a Plane

A method to detect obstacle-free paths in real-time which works as part of a cognitive navigation aid system for visually impaired people is proposed. It is based on the analysis of disparity maps obtained from a stereo vision system which is carried by the blind user. The presented detection method consists of a fuzzy logic system that assigns a certainty to be part of a free path to each group of pixels, depending on the parameters of a planar-model fitting. We also present experimental results on different real outdoor scenarios showing that our method is the most reliable in the sense that it minimizes the false positives rate.N. Ortigosa acknowledges the support of Universidad Politecnica de Valencia under grant FPI-UPV 2008 and Spanish Ministry of Science and Innovation under grant MTM2010-15200. S. Morillas acknowledges the support of Universidad Politecnica de Valencia under grant PAID-05-12-SP20120696.Ortigosa Araque, N.; Morillas Gómez, S. (2014). 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