131090 20240219135522.0 doi 10.1109/ICARCV50220.2020.9305464 sideral 131427 ART-2021-131427 eng Berenguel-Baeta, B. Universidad de Zaragoza (orcid)0000-0003-2674-4844 Floor extraction and door detection for visually impaired guidance 2021 Finding 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. info:eu-repo/semantics/closedAccess All rights reserved http://www.europeana.eu/rights/rr-f/ info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Guerrero-Viu, M. Nova, A. Bermudez-Cameo, J. Universidad de Zaragoza (orcid)0000-0002-8479-1748 Perez-Yus, A. Universidad de Zaragoza (orcid)0000-0002-8949-2632 Guerrero, J.J. Universidad de Zaragoza (orcid)0000-0001-5209-2267 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 2020 (2021), 1222-1229 International Conference on Control, Automation, Robotics and Vision (ICARCV) 2474-963X 313919 http://zaguan.unizar.es/record/131090/files/texto_completo.pdf Versión publicada 2872374 http://zaguan.unizar.es/record/131090/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:131090 articulos driver 2024-02-19-13:52:25 ARTICLE