Nombre: HEITOR DELESPORTE CONCEGLIERI
Tipo: MSc dissertation
Fecha de publicación: 25/07/2023
Supervisor:
Nombre |
Papel |
|---|---|
| ANSELMO FRIZERA NETO | Advisor * |
| RICARDO CARMINATI DE MELLO | Co-advisor * |
Junta de examinadores:
| Nombre |
Papel |
|---|---|
| ANSELMO FRIZERA NETO | Advisor * |
| CAMILO ARTURO RODRIGUEZ DIAZ | Internal Examiner * |
| FAUSTO ORSI MEDOLA | External Examiner * |
| RICARDO CARMINATI DE MELLO | Co advisor * |
Sumario: Thenumberofvisuallyimpairedpeopleintodayssocietyhasincreasedandvisionisof paramountimportancefortheindividualsperception,orientationandlocationinthe environment.Devices,suchastraditionalcanesandguidedogs,andsmartcanes,which useultrasonicandinfraredsensors,areimplementedtoprovidesupporttousers.However, thesedeviceslackthemeanstoacquireimportantinformationtohelpinsituations commonlyreportedbyusers,suchasthedetectionandpositioningofhighobstacles.The presentstudyaimstopresentandvalidateanobjectdetectionstrategythroughimages capturedbyanRGB-Dcamera,dividedintotwostages.Inaddition,challengesand potentialitiesarealsodiscussedinthesynergisticimplementationofsuchastrategyto thedevicesalreadyusedtoaidlocomotion.TheuseofRGB-Dcamerasthenprovides relevantinformationthroughtheirdepthandRGBsensorstocomplementtheuseof traditionaldevicesandhelpusersmoveandnavigate.Asvariablesystemparameters (e.g.,theazimuthandpolarangles,andthedepthparameter)canconsiderablyaffectthe systemoperation,twogroupsofexperimentsarecarriedouttovalidatethestrategyand understandtheimpactsonthequalityofdetectionandoperationofthesystemduring navigation.Initially,thesystemisimplementedthroughthefirststageofthestrategy, withtheazimuthpresentingavariationratefrom0°to0.21ºandthedepthparameter, 1mmto14mm.Forthesecondgroupofexperiments,thesecondstepofthestrategy isemployedandanewdatabaseisgeneratedwithanewtrainedclass.Thetrainingof thenewclassallowsthesystemtodetect100%oftheimagesofthetrainedclasswitha minimumconfidencethresholdof0.887,indicatinggooddetectioncapability.Thesecond stageofthestrategyisabletodetectstaticanddynamicobjects,aswellaselevatedobjects andonthesameaxisasthecamera.Resultsoftheseexperiments,suchasthestandard deviationsofthepolaranglerangingfrom0.3°to0.34°,showtheviabilityoftheproposed detectionstrategyforbothstaticanddynamicscenarios,offeringalternativesforfurther studiesinrelationtoobjectdetectionformobilityassistanceforthevisuallyimpaired. Thegenerationofnewdatasetsfortheimplementationofthesysteminnewscenarios, suchastheurbanone,theintegrationindifferentmobilecomputationalplatformsaiming atpracticalityandmobility,andtheimplementationofotherfeedbackmethodstothe useraresomeofthefutureworksresultingfromthisresearch. Keywords:ComputerVision,Real-timedetection,Visuallyimpaired,RGB-Dcamera, Assistivetechnology.
