Tactile Tile Detection Integrated with Ground Detection using an RGB-Depth Sensor

Yutaro Yamanaka, Eichi Takaya, Satoshi Kurihara

2020

Abstract

Tactile paving is a system used to help visually impaired individuals walk safely. However, it is difficult to recognize the surrounding tactile tiles on a first visit to an area. In this study, we propose a method for detecting tactile tiles integrated with ground detection using an RGB-Depth sensor. For the ground detection, we use the RANSAC algorithm and expand the region by using the breadth-first search. When detecting the tactile tiles, we perform thresholding and construct a model to identify candidate areas. Experimental results showed that the proposed method obtained a precision of about 83% in detecting tactile tiles on a paved asphalt road. It was possible to correctly distinguish tactile tiles from other objects by combining ground detection in many cases. On the other hand, there were many false detections of tactile tiles in challenging environments, and the processing speed should be improved for real-time navigation.

Paper Citation

in Harvard Style

Yamanaka Y., Takaya E. and Kurihara S. (2020). Tactile Tile Detection Integrated with Ground Detection using an RGB-Depth Sensor. In Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART, ISBN 978-989-758-395-7, pages 750-757. DOI: 10.5220/0009092907500757

in Bibtex Style

@conference{icaart20,
author={Yutaro Yamanaka and Eichi Takaya and Satoshi Kurihara},
title={Tactile Tile Detection Integrated with Ground Detection using an RGB-Depth Sensor},
booktitle={Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},
year={2020},
pages={750-757},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009092907500757},
isbn={978-989-758-395-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,
TI - Tactile Tile Detection Integrated with Ground Detection using an RGB-Depth Sensor
SN - 978-989-758-395-7
AU - Yamanaka Y.
AU - Takaya E.
AU - Kurihara S.
PY - 2020
SP - 750
EP - 757
DO - 10.5220/0009092907500757