TY - GEN
T1 - Sensor fusion for ecologically valid obstacle identification
T2 - 7th International Conference on Modeling, Simulation, and Applied Optimization, ICMSAO 2017
AU - Rizzo, John Ross
AU - Pan, Yubo
AU - Hudson, Todd
AU - Wong, Edward K.
AU - Fang, Yi
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/5/26
Y1 - 2017/5/26
N2 - Sensor fusion represents a robust approach to ecologically valid obstacle identification in building a comprehensive electronic travel aid (ETA) for the blind and visually impaired. A stereoscopic camera system and an infrared sensor with 16 independent elements is proposed to be combined with a multi-scale convolutional neural network for this fusion framework. While object detection and identification can be combined with depth information from a stereo camera system, our experiments demonstrate that depth information may be inconsistent given material surfaces of specific potential collision hazards. This inconsistency can be easily remedied by supplementation with a more reliable depth signal from an alternate sensing modality. The sensing redundancy in this multi-modal strategy, as deployed in this platform, may enhance the situational awareness of a visually impaired end user, permitting more efficient and safer obstacle negotiation.
AB - Sensor fusion represents a robust approach to ecologically valid obstacle identification in building a comprehensive electronic travel aid (ETA) for the blind and visually impaired. A stereoscopic camera system and an infrared sensor with 16 independent elements is proposed to be combined with a multi-scale convolutional neural network for this fusion framework. While object detection and identification can be combined with depth information from a stereo camera system, our experiments demonstrate that depth information may be inconsistent given material surfaces of specific potential collision hazards. This inconsistency can be easily remedied by supplementation with a more reliable depth signal from an alternate sensing modality. The sensing redundancy in this multi-modal strategy, as deployed in this platform, may enhance the situational awareness of a visually impaired end user, permitting more efficient and safer obstacle negotiation.
UR - http://www.scopus.com/inward/record.url?scp=85021427754&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85021427754&partnerID=8YFLogxK
U2 - 10.1109/ICMSAO.2017.7934891
DO - 10.1109/ICMSAO.2017.7934891
M3 - Conference contribution
AN - SCOPUS:85021427754
T3 - 2017 7th International Conference on Modeling, Simulation, and Applied Optimization, ICMSAO 2017
BT - 2017 7th International Conference on Modeling, Simulation, and Applied Optimization, ICMSAO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 4 April 2017 through 6 April 2017
ER -