標題: DLWV2: a Deep Learning-based Wearable Vision-system with Vibrotactile-feedback for Visually Impaired People to Reach Objects
作者: Shih, Meng-Li
Chen, Yi-Chun
Tung, Chia-Yu
Sun, Cheng
Cheng, Ching-Ju
Chan, Liwei
Varadarajan, Srenivas
Sun, Min
交大名義發表
National Chiao Tung University
公開日期: 1-Jan-2018
摘要: We develop a Deep Learning-based Wearable Vision-system with Vibrotactile-feedback (DLWV2) to guide Blind and Visually Impaired (BVI) people to reach objects. The system achieves high accuracy in object detection and tracking in 3-D using an extended deep learning-based 2.5D detector and a 3-D object tracker with the ability to track 3-D object locations even outside the camera field-of-view. We train our detector with a large number of images with 2.5D object ground-truth (i.e., 2-D object bounding boxes and distance from the camera to objects). A novel combination of HTC Vive Tracker with our system enables us to automatically obtain the ground-truth labels for training while requiring very little human effort to set up the system. Moreover, our system processes frames in real-time through a client-server computing platform such that BVI people can receive realtime vibrotactile guidance. We conduct a thorough user study on 12 BVI people in new environments with object instances which are unseen during training. Our system outperforms the non-assistive guiding strategy with statistic significance in both time and the number of contacting irrelevant objects. Finally, the interview with BVI users confirms that our system with distance-based vibrotactile feedback is mostly preferred, especially for objects requiring gentle manipulation such as a bottle with water inside.
URI: http://hdl.handle.net/11536/151050
ISSN: 2153-0858
期刊: 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
起始頁: 7904
結束頁: 7911
Appears in Collections:Conferences Paper