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Fuzzy Free Path Detection from Disparity Maps by Using Least-Squares Fitting to a Plane

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Abstract

A method to detect obstacle-free paths in real-time which works as part of a cognitive navigation aid system for visually impaired people is proposed. It is based on the analysis of disparity maps obtained from a stereo vision system which is carried by the blind user. The presented detection method consists of a fuzzy logic system that assigns a certainty to be part of a free path to each group of pixels, depending on the parameters of a planar-model fitting. We also present experimental results on different real outdoor scenarios showing that our method is the most reliable in the sense that it minimizes the false positives rate.

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  1. I.U. Matemática Pura y Aplicada, Universidad Politécnica de Valencia, Camino de Vera s/n, 46022, Valencia, Spain

    Nuria Ortigosa & Samuel Morillas

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  1. Nuria Ortigosa
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  2. Samuel Morillas
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Correspondence to Nuria Ortigosa.

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Ortigosa, N., Morillas, S. Fuzzy Free Path Detection from Disparity Maps by Using Least-Squares Fitting to a Plane. J Intell Robot Syst 75, 313–330 (2014). https://doi.org/10.1007/s10846-013-9997-1

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  • DOI: https://doi.org/10.1007/s10846-013-9997-1

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