Visual Shoreline Detection for Blind and Partially Sighted People Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen INSTITUTE FOR ANTHROPOMATICS AND ROBOTICS – COMPUTER VISION FOR HUMAN COMPUTER INTERACTION ! 1 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics www.kit.edu Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction KIT – The Research University in the Helmholtz Association
Motivation ! 2 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Motivation ! 3 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Related Work [Mind The Gap: Virtual Shorelines for Blind and Partially Sighted People, ICCVW2017] ! 4 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Related Work Coughlan, Manduchi, Shen: Computer Vision-Based Terrain Sensors for Blind Wheelchair Users, ICCHP 2006 Coughlan, Shen: Terrain Analysis for Blind Wheelchair Users: Computer Vision Algorithms for Finding Curbs and other Negative Obstacles, CVHI 2007 Ivanchenko, Coughlan, Gerrey, Shen: Computer vision-based clear path guidance for blind wheelchair users, SIGACCESS 2008 ! 5 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: Manhattan-World ! 6 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: Vanishing Point Detection ! 7 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: Vanishing Point Detection ! 7 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: Vanishing Point Detection ! 7 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: Vanishing Point Detection ! 7 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: Vanishing Point Detection ! 7 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: Vanishing Point Detection ! 7 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: Vanishing Point Detection ! 7 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: Depth Data ! 8 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: Depth Data ! 8 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: Slice&Dice ! 9 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: Slice&Dice ! 9 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: Slice&Dice ! 9 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: RANSAC ! 10 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: RANSAC ! 10 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: RANSAC ! 10 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: Segments ! 11 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: Segments ! 11 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: Segments ! 11 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Algorithm: Segments ! 11 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Evaluation ! 12 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Evaluation ! 13 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Evaluation ! 14 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Evaluation ! 15 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Evaluation: Runtime ! 16 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Conclusion Virtual/visual shoreline detection in urban scenarios Achieve great accuracy Realtime capability vs. quality trade-off Useful step towards a greater mobility assistance ! 17 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
Questions? Thank you for your attention! ! 19 Daniel Koester, Tobias Allgeyer, Rainer Stiefelhagen 7/12/18 Institute for Anthropomatics and Robotics Virtual Shoreline Detection for Blind and Partially Sighted People Computer Vision for Human Computer Interaction
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