Computer Vision Based Travel Aid for the Blind Crossing Roads

  • Tadayoshi Shioyama
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4179)


This paper proposes a method for detecting frontal pedestrian crossings and estimating its length from image data obtained with a single camera as a travel aid for the blind. It is important for the blind to know whether or not a frontal area is a crossing. The existence of a crossing is detected in two steps. In the first step, feature points for a crossing is extracted using Fisher criterion. In the second step, the existence of a crossing is detected by checking on the peoriodicity of white stripes on the road using projective invariants. Next, we propose a method for estimaing crossing length using extracted feature points. From the experimental results for evaluation, it is found that the existence of a crossing is successfully detected for all 173 real images which include 100 images with crossings and 73 images without crossing. The rms error of crossing length estimation for the 100 images is found 2.29m.


Feature Point Tangential Plane Road Surface Projective Invariant Single Camera 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Tadayoshi Shioyama
    • 1
  1. 1.Department of Mechanical and System EngineeringKyoto Institute of TechnologyKyotoJapan

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