000131090 001__ 131090 000131090 005__ 20240219135522.0 000131090 0247_ $$2doi$$a10.1109/ICARCV50220.2020.9305464 000131090 0248_ $$2sideral$$a131427 000131090 037__ $$aART-2021-131427 000131090 041__ $$aeng 000131090 100__ $$0(orcid)0000-0003-2674-4844$$aBerenguel-Baeta, B.$$uUniversidad de Zaragoza 000131090 245__ $$aFloor extraction and door detection for visually impaired guidance 000131090 260__ $$c2021 000131090 5203_ $$aFinding obstacle-free paths in unknown environments is a big navigation issue for visually impaired people and autonomous robots. Previous works focus on obstacle avoidance, however they do not have a general view of the environment they are moving in. New devices based on computer vision systems can help impaired people to overcome the difficulties of navigating in unknown environments in safe conditions. In this work it is proposed a combination of sensors and algorithms that can lead to the building of a navigation system for visually impaired people. Based on traditional systems that use RGB-D cameras for obstacle avoidance, it is included and combined the information of a fish-eye camera, which will give a better understanding of the user's surroundings. The combination gives robustness and reliability to the system as well as a wide field of view that allows to obtain many information from the environment. This combination of sensors is inspired by human vision where the center of the retina (fovea) provides more accurate information than the periphery, where humans have a wider field of view. The proposed system is mounted on a wearable device that provides the obstacle-free zones of the scene, allowing the planning of trajectories for people guidance. 000131090 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000131090 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion 000131090 700__ $$aGuerrero-Viu, M. 000131090 700__ $$aNova, A. 000131090 700__ $$0(orcid)0000-0002-8479-1748$$aBermudez-Cameo, J.$$uUniversidad de Zaragoza 000131090 700__ $$0(orcid)0000-0002-8949-2632$$aPerez-Yus, A.$$uUniversidad de Zaragoza 000131090 700__ $$0(orcid)0000-0001-5209-2267$$aGuerrero, J.J.$$uUniversidad de Zaragoza 000131090 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000131090 773__ $$g2020 (2021), 1222-1229$$tInternational Conference on Control, Automation, Robotics and Vision (ICARCV)$$x2474-963X 000131090 8564_ $$s313919$$uhttps://zaguan.unizar.es/record/131090/files/texto_completo.pdf$$yVersión publicada 000131090 8564_ $$s2872374$$uhttps://zaguan.unizar.es/record/131090/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada 000131090 909CO $$ooai:zaguan.unizar.es:131090$$particulos$$pdriver 000131090 951__ $$a2024-02-19-13:52:25 000131090 980__ $$aARTICLE