Visual Shoreline Detection for Blind and Partially Sighted People - - PowerPoint PPT Presentation

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visual shoreline detection for blind and partially

Visual Shoreline Detection for Blind and Partially Sighted People - - PowerPoint PPT Presentation

Dec 05, 2023 161 likes •510 views

Visual Shoreline Detection for Blind and Partially Sighted People Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen INSTITUTE FOR ANTHROPOMATICS AND ROBOTICS COMPUTER VISION FOR HUMAN COMPUTER INTERACTION ! 1 Daniel Koester, Tobias

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18

KIT – The Research University in the Helmholtz Association

INSTITUTE FOR ANTHROPOMATICS AND ROBOTICS – COMPUTER VISION FOR HUMAN COMPUTER INTERACTION

www.kit.edu

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Visual Shoreline Detection for Blind and Partially Sighted People

Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !2

Motivation

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !3

Motivation

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !4

Related Work

[Mind The Gap: Virtual Shorelines for Blind and Partially Sighted People, ICCVW2017]

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !5

Related Work

Coughlan, Manduchi, Shen: Computer Vision-Based Terrain Sensors for Blind Wheelchair Users, ICCHP 2006 Coughlan, Shen: Terrain Analysis for Blind Wheelchair Users: Computer Vision Algorithms for Finding Curbs and other Negative Obstacles, CVHI 2007 Ivanchenko, Coughlan, Gerrey, Shen: Computer vision-based clear path guidance for blind wheelchair users, SIGACCESS 2008

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !6

Algorithm: Manhattan-World

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !7

Algorithm: Vanishing Point Detection

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !7

Algorithm: Vanishing Point Detection

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !7

Algorithm: Vanishing Point Detection

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !7

Algorithm: Vanishing Point Detection

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !7

Algorithm: Vanishing Point Detection

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !7

Algorithm: Vanishing Point Detection

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !7

Algorithm: Vanishing Point Detection

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !8

Algorithm: Depth Data

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !8

Algorithm: Depth Data

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !9

Algorithm: Slice&Dice

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !9

Algorithm: Slice&Dice

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !9

Algorithm: Slice&Dice

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !10

Algorithm: RANSAC

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !10

Algorithm: RANSAC

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !10

Algorithm: RANSAC

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !11

Algorithm: Segments

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !11

Algorithm: Segments

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !11

Algorithm: Segments

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !11

Algorithm: Segments

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !12

Evaluation

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !13

Evaluation

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !14

Evaluation

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !15

Evaluation

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !16

Evaluation: Runtime

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !17

Conclusion

Virtual/visual shoreline detection in urban scenarios Achieve great accuracy Realtime capability vs. quality trade-off Useful step towards a greater mobility assistance

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !19

Questions?

Thank you for your attention!

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Institute for Anthropomatics and Robotics  Computer Vision for Human Computer Interaction Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen Virtual Shoreline Detection for Blind and Partially Sighted People 7/12/18 !20

Image Sources

#2: “Don’t judge too quickly”, Source Unknown #3: http://blog.cengagebrain.com/blog/wp-content/uploads/ 2017/11/White-Cane-Safety.png #6: https://pixabay.com/en/manhattan-new-york-new-york- city-2430572/ #10: https://commons.wikimedia.org/wiki/ File:RANSAC_LINIE_Animiert.gif #19: https://pxhere.com/en/photo/668263