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

Wearable obstacle avoidance electronic travel aids for blind and visually impaired individuals : a systematic review

Background Wearable obstacle avoidance electronic travel aids (ETAs) have been developed to assist the safe displacement of blind and visually impaired individuals (BVIs) in indoor/outdoor spaces. This systematic review aimed to understand the strengths and weaknesses of existing ETAs in terms of hardware functionality, cost, and user experience. These elements may influence the usability of the ETAs and are valuable in guiding the development of superior ETAs in the future. Methods Formally published studies designing and developing the wearable obstacle avoidance ETAs were searched for from six databases from their inception to April 2023. The PRISMA 2020 and APISSER guidelines were followed. Results Eighty-nine studies were included for analysis, 41 of which were judged to be of moderate to high quality. Most wearable obstacle avoidance ETAs mainly depend on camera- and ultrasonic-based techniques to achieve perception of the environment. Acoustic feedback was the most common human-computer feedback form used by the ETAs. According to user experience, the efficacy and safety of the device was usually their primary concern. Conclusions Although many conceptualised ETAs have been designed to facilitate BVIs' independent navigation, most of these devices suffer from shortcomings. This is due to the nature and limitations of the various processors, environment detection techniques and human-computer feedback those ETAs are equipped with. Integrating multiple techniques and hardware into one ETA is a way to improve performance, but there is still a need to address the discomfort of wearing the device and the high-cost. Developing an applicable systematic review guideline along with a credible quality assessment tool for these types of studies is also required. © 2013 IEEE

A Systematic Review of Urban Navigation Systems for Visually Impaired People

Blind and Visually impaired people (BVIP) face a range of practical difficulties when undertaking outdoor journeys as pedestrians. Over the past decade, a variety of assistive devices have been researched and developed to help BVIP navigate more safely and independently. In~addition, research in overlapping domains are addressing the problem of automatic environment interpretation using computer vision and machine learning, particularly deep learning, approaches. Our aim in this article is to present a comprehensive review of research directly in, or relevant to, assistive outdoor navigation for BVIP. We breakdown the navigation area into a series of navigation phases and tasks. We then use this structure for our systematic review of research, analysing articles, methods, datasets and current limitations by task. We also provide an overview of commercial and non-commercial navigation applications targeted at BVIP. Our review contributes to the body of knowledge by providing a comprehensive, structured analysis of work in the domain, including the state of the art, and guidance on future directions. It will support both researchers and other stakeholders in the domain to establish an informed view of research progress

Sensor-Based Assistive Devices for Visually-Impaired People: Current Status, Challenges, and Future Directions

The World Health Organization (WHO) reported that there are 285 million visually impaired people worldwide. Among these individuals, there are 39 million who are totally blind. There have been several systems designed to support visually-impaired people and to improve the quality of their lives. Unfortunately, most of these systems are limited in their capabilities. In this paper, we present a comparative survey of the wearable and portable assistive devices for visuallyimpaired people in order to show the progress in assistive technology for this group of people. Thus, the contribution of this literature survey is to discuss in detail the most significant devices that are presented in the literature to assist this population and highlight the improvements, advantages, disadvantages, and accuracy. Our aim is to address and present most of the issues of these systems to pave the way for other researchers to design devices that ensure safety and independent mobility to visually-impaired people.https://doi.org/10.3390/s1703056

Unifying terrain awareness for the visually impaired through real-time semantic segmentation.

Navigational assistance aims to help visually-impaired people to ambulate the environment safely and independently. This topic becomes challenging as it requires detecting a wide variety of scenes to provide higher level assistive awareness. Vision-based technologies with monocular detectors or depth sensors have sprung up within several years of research. These separate approaches have achieved remarkable results with relatively low processing time and have improved the mobility of impaired people to a large extent. However, running all detectors jointly increases the latency and burdens the computational resources. In this paper, we put forward seizing pixel-wise semantic segmentation to cover navigation-related perception needs in a unified way. This is critical not only for the terrain awareness regarding traversable areas, sidewalks, stairs and water hazards, but also for the avoidance of short-range obstacles, fast-approaching pedestrians and vehicles. The core of our unification proposal is a deep architecture, aimed at attaining efficient semantic understanding. We have integrated the approach in a wearable navigation system by incorporating robust depth segmentation. A comprehensive set of experiments prove the qualified accuracy over state-of-the-art methods while maintaining real-time speed. We also present a closed-loop field test involving real visually-impaired users, demonstrating the effectivity and versatility of the assistive framework

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

Mobile robot vavigation using a vision based approach

PhD ThesisThis study addresses the issue of vision based mobile robot navigation in a partially cluttered indoor environment using a mapless navigation strategy. The work focuses on two key problems, namely vision based obstacle avoidance and vision based reactive navigation strategy. The estimation of optical flow plays a key role in vision based obstacle avoidance problems, however the current view is that this technique is too sensitive to noise and distortion under real conditions. Accordingly, practical applications in real time robotics remain scarce. This dissertation presents a novel methodology for vision based obstacle avoidance, using a hybrid architecture. This integrates an appearance-based obstacle detection method into an optical flow architecture based upon a behavioural control strategy that includes a new arbitration module. This enhances the overall performance of conventional optical flow based navigation systems, enabling a robot to successfully move around without experiencing collisions. Behaviour based approaches have become the dominant methodologies for designing control strategies for robot navigation. Two different behaviour based navigation architectures have been proposed for the second problem, using monocular vision as the primary sensor and equipped with a 2-D range finder. Both utilize an accelerated version of the Scale Invariant Feature Transform (SIFT) algorithm. The first architecture employs a qualitative-based control algorithm to steer the robot towards a goal whilst avoiding obstacles, whereas the second employs an intelligent control framework. This allows the components of soft computing to be integrated into the proposed SIFT-based navigation architecture, conserving the same set of behaviours and system structure of the previously defined architecture. The intelligent framework incorporates a novel distance estimation technique using the scale parameters obtained from the SIFT algorithm. The technique employs scale parameters and a corresponding zooming factor as inputs to train a neural network which results in the determination of physical distance. Furthermore a fuzzy controller is designed and integrated into this framework so as to estimate linear velocity, and a neural network based solution is adopted to estimate the steering direction of the robot. As a result, this intelligent iv approach allows the robot to successfully complete its task in a smooth and robust manner without experiencing collision. MS Robotics Studio software was used to simulate the systems, and a modified Pioneer 3-DX mobile robot was used for real-time implementation. Several realistic scenarios were developed and comprehensive experiments conducted to evaluate the performance of the proposed navigation systems. KEY WORDS: Mobile robot navigation using vision, Mapless navigation, Mobile robot architecture, Distance estimation, Vision for obstacle avoidance, Scale Invariant Feature Transforms, Intelligent framework

Functional and formal component design for an electric motorbike “Sound Module”

Nowadays, new technologies allow creating new advances in the society through the innovation or improvement of existent products. This project intends to design a sound module that will be incorporated in an electric motorbike. As every motorbike has a different inside structure, the study will be carried out considering that the module’s volume may be adapted depending on the motorbike. The electric motorbike market is still in its development stage, and the studied topic in the project seems to be currently in research by many automotive enterprises, as the noise limit rulemakings in the city are a burning issue that has been already accomplished by 4-wheel vehicles. The design and study aims to contribute in the decrease of accidents due to the lack of noise of this type of vehicles. This will be accomplished with a selection of elements that combined, will allow the citizens to discern the presence of the electric vehicle and act in consequence

Cognitive Vehicle Platooning in the Era of Automated Electric Transportation

Vehicle platooning is an important innovation in the automotive industry that aims at improving safety, mileage, efficiency, and the time needed to travel. This research focuses on the various aspects of vehicle platooning, one of the important aspects being analysis of different control strategies that lead to a stable and robust platoon. Safety of passengers being a very important consideration, the control design should be such that the controller remains robust under uncertain environments. As a part of the Department of Energy (DOE) project, this research also tries to show a demonstration of vehicle platooning using robots. In an automated highway scenario, a vehicle platoon can be thought of as a string of vehicles, following one another as a platoon. Being equipped by wireless communication capabilities, these vehicles communicate with one another to maintain their formation as a platoon, hence are cognitive. Autonomous capable vehicles in tightly spaced, computer-controlled platoons will lead to savings in energy due to reduced aerodynamic forces, as well as increased passenger comfort since there will be no sudden accelerations or decelerations. Impacts in the occurrence of collisions, if any, will be very low. The greatest benefit obtained is, however, an increase in highway capacity, along with reduction in traffic congestion, pollution, and energy consumption. Another aspect of this project is the automated electric transportation (AET). This aims at providing energy directly to vehicles from electric highways, thus reducing their energy consumption and CO2 emission. By eliminating the use of overhead wires, infrastructure can be upgraded by electrifying highways and providing energy on demand and in real time to moving vehicles via a wireless energy transfer phenomenon known as wireless inductive coupling. The work done in this research will help to gain an insight into vehicle platooning and the control system related to maintaining the vehicles in this formation

Aplicación dos produtos de apoio de alta tecnoloxía no desempeño ocupacional das persoas con discapacidade visual: scoping review

[Resumo] Introdución: As persoas con discapacidade visual poden experimentar dificultades na realización de diferentes ocupacións cotiás. A tecnoloxía de apoio (TA) debe actuar coma un facilitador na participación desta poboación en actividades desexadas. Obxectivo: Coñecer se os produtos de apoio de alta tecnoloxía dan resposta ás dificultades no desempeño ocupacional coas que se atopan máis frecuentemente as persoas con discapacidade visual no seu día a día. Metodoloxía: Seguiuse unha metodoloxía de revisión de alcance. A busca bibliográfica foi levada a cabo nas bases de datos CINAHL, PubMed, Scopus e Web of Science. As variables temáticas establecéronse seguindo os compoñentes propostos polo Modelo da Actividade Humana e da Tecnoloxía de Apoio. Para a súa análise empregouse un enfoque mixto. Resultados: Na mostra incluíronse un total de 44 estudos. En moitos casos, non se especificou certa información relativa ás persoas participantes. A TA analizada centrouse principalmente na detección e na evitación de obstáculos, facilitando a mobilidade funcional. Os dispositivos reciben a información mediante sistemas de cámaras para transmitirlla á persoa por son. A TA está deseñada para contextos tanto interiores coma exteriores da vida diaria, e foi testada maiormente en ambientes reais. Conclusión: Os produtos de apoio de alta tecnoloxía están dirixidos principalmente a facilitar a mobilidade funcional, a participación social, e a lectura das persoas con discapacidade visual. En menor medida, abordaron a educación, o deporte e as tarefas do fogar. Así, non se centraron noutras actividades relevantes como a condución ou o emprego.[Resumen] Introducción: Las personas con discapacidad visual pueden experimentan dificultades en la realización de diferentes ocupaciones cotidianas. La tecnología de apoyo (TA) debe actuar como un facilitador en la participación de esta población en actividades deseadas. Objetivo: Conocer si los productos de apoyo de alta tecnología dan respuesta a las dificultades en el desempeño ocupacional con las que se encuentran más frecuentemente las personas con discapacidad visual en su día a día. Metodología: Se siguió una metodología de revisión de alcance. La búsqueda bibliográfica se llevó a cabo en las bases de datos CINAHL, PubMed, Scopus y Web of Science. Las variables temáticas se establecieron siguiendo los componentes propuestos por el Modelo de la Actividad Humana y la Tecnología de Apoyo. Para su análisis se empleó un enfoque mixto. Resultados: En la muestra se incluyeron un total de 44 estudios. En muchos casos, no se especificó cierta información relativa a las personas participantes. La TA analizada se centró principalmente en la detección y evitación de obstáculos, facilitando la movilidad funcional. Los dispositivos reciben la información mediante sistemas de cámaras para transmitírsela a la persona por audio. La TA está diseñada para contextos tanto interiores como exteriores de la vida diaria, y fue testada mayormente en ambientes reales. Conclusión: Los productos de apoyo de alta tecnología están dirigidos principalmente a facilitar la movilidad funcional, la participación social, y la lectura de las personas con discapacidad visual. En menor medida, abordaron la educación, el deporte, o las tareas del hogar. Así, no se centraron en otras actividades relevantes como la conducción o el empleo.[Abstract] Background: People with visual impairment can have difficulties in performing different daily occupations. Assistive technology (AT) should be an enabler in the participation of these population’s desired activities. Aim: To know if high-tech assistive devices respond to difficulties in the occupational performance that people with visual impairment most frequently experiment in their day-to-day lives. Methodology: A methodology of Scoping Review was used. The bibliographic search was carried out in the databases CINAHL, PubMed, Scopus y Web of Science. Thematic variables were established following the components proposed by the Human Activity Assistive Technology Model. For their analyses, a mixed methods approach was used. Results: A total of 44 studies were included in the sample. In many cases, certain information regarding the participants was not specified. The analyzed AT focused mainly on the detection and avoidance of obstacles, facilitating functional mobility. The devices receive the information through camera systems to transmit it to the person by audio. The AT is designed for indoor and outdoor contexts of everyday life, and it was mostly tested in real-world environments. Conclusion: The high-tech assistive devices are primarily aimed at facilitating the functional mobility, social participation, and reading of people with visual impairment. To a lesser extent, they addressed education, sports, or housework. However, they did not focus on other relevant activities such as driving or working.Traballo fin de mestrado (UDC.FCS). Asistencia e investigación sanitaria. Especialidade en Reeducación Funcional, Autonomía Persoal e Calidade de Vida. Curso 2020-202