论文标题
通过RGB-D传感器，通过动态大满贯和全景分割为视障人士提供室内导航帮助
Indoor Navigation Assistance for Visually Impaired People via Dynamic SLAM and Panoptic Segmentation with an RGB-D Sensor
论文作者
论文摘要
探索一个不熟悉的室内环境并避免障碍对于视力受损的人来说是挑战。当前，几种方法基于室内场景的映射来避免静态障碍。为了解决区分动态障碍的问题，我们提出了一个带有RGB-D传感器的辅助系统，以检测场景的动态信息。系统捕获图像后，将执行泛型分割以获取先验的动态对象信息。从图像和深度信息中提取稀疏特征点，可以估算用户的姿势。在自我运动估计之后，可以识别和跟踪动态对象。然后，可以估算跟踪动态对象的姿势和速度，这些对象通过声学反馈传递给用户。
Exploring an unfamiliar indoor environment and avoiding obstacles is challenging for visually impaired people. Currently, several approaches achieve the avoidance of static obstacles based on the mapping of indoor scenes. To solve the issue of distinguishing dynamic obstacles, we propose an assistive system with an RGB-D sensor to detect dynamic information of a scene. Once the system captures an image, panoptic segmentation is performed to obtain the prior dynamic object information. With sparse feature points extracted from images and the depth information, poses of the user can be estimated. After the ego-motion estimation, the dynamic object can be identified and tracked. Then, poses and speed of tracked dynamic objects can be estimated, which are passed to the users through acoustic feedback.
