An enhanced obstacle avoidance method for the visually impaired using deformable grid

Mun Cheon Kang, Sung Ho Chae, Jee Young Sun, Sung Ho Lee, Sung Jea Ko

Research output: Contribution to journalArticlepeer-review

21 Citations (Scopus)


Various obstacle avoidance (OA) methods with the monocular vision have been studied to assist visually impaired people. Recently, a method that effectively locates obstacles at a risk of collision using the shape variation of a grid, called deformable grid (DG), was introduced [11]. To further improve the detection performance of the previous work, a vertex deformation function representing the displacement of each vertex in the DG is firstly defined employing the perspective projection geometry. Then, the collision risk is accurately estimated based on the shape variation of the DG that is measured using the vertex deformation function. Experimental results show that the proposed method outperforms other conventional methods as well as the previous work in terms of both the accuracy and processing time, and clearly detects obstacles that present a risk of collision in a variety of scenarios. This method is suitable for application to electronic travel aid (ETA) systems using consumer devices, such as smart-phones, tablets, and wearable devices.

Original languageEnglish
Article number8013256
Pages (from-to)169-177
Number of pages9
JournalIEEE Transactions on Consumer Electronics
Issue number2
Publication statusPublished - 2017 May


  • Electronic Travel Aids (ETA)
  • Obstacle avoidance
  • collision avoidance
  • obstacle detection
  • visually impaired

ASJC Scopus subject areas

  • Media Technology
  • Electrical and Electronic Engineering


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