Vision-based Detection of Kerbs and Steps.
Stephen Se, Michael Brady · 1997
A key component of a technological aid for the partially sighted (TAPS) is a system to detect kerbs and steps. In this paper, a vision-based kerb detection system is described which uses the Hough Transform to nd clusters of parallel lines in the image as evidence for a kerb. This is combined with a stereo vision-based obstacle detection algorithm. Experiments show that kerb regions are identi ed correctly from the images. An error analysis of the obstacle detection algorithm enables the kerb height, and its uncertainty, to be determined. 1 Introduction The system we describe here provides part of an obstacle avoidance capability for ASMONC (Autonomous System for Mobility, Orientation, Navigation and Communication), a project which aims to provide a full navigation and mobility capability for partially sighted people. A major requirement for the vision system in ASMONC is to detect small obstacles as well as kerbs/steps to help the user navigate safely along a path. Ground Plane Obst...