iSee: obstacle detection and feedback system for the blind

This paper proposes a novel obstacle detection and feedback system iSee based on RGB-D sensor for the blind. Firstly, a fast and robust ground detection method based on multi-scale voxel plane segmentation and geometric constraints is introduced. Secondly, the regions besides the ground area are segmented by region growing. Then an area-division based obstacle detection method is proposed, which combines the analysis of context information. Finally, a multi-level voice feedback strategy is proposed. The experimental results show the proposed system can detect and feedback obstacle information fast and robustly.

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