This document describes a navigation system for visually impaired or blind people using the A* pathfinding algorithm. The system consists of two parts: planning the path from a starting to ending location, and avoiding obstacles. Two tests were run for each part using C# and MATLAB. The results showed the A* algorithm successfully guided users between locations without errors in both indoor environments with and without obstacles. The document concludes the A* pathfinding approach using C# provides a valid and reliable method for indoor navigation assistance.
Robust Human Tracking Method Based on Apperance and Geometrical Features in N...csandit
This paper proposes a robust tracking method which concatenates appearance and geometrical
features to re-identify human in non-overlapping views. A uniformly-partitioning method is
proposed to extract local HSV(Hue, Saturation, Value) color features in upper and lower
portion of clothing. Then adaptive principal view selecting algorithm is presented to locate
principal view which contains maximum appearance feature dimensions captured from different
visual angles. For each appearance feature dimension in principal view, all its inner frames get
involved in training a support vector machine (SVM). In matching process, human candidate
filtering is first operated with an integrated geometrical feature which connects height estimate
with gait feature. The appearance features of the remaining human candidates are later tested
by SVMs to determine the object’s existence in new cameras. Experimental results show the
feasibility and effectiveness of this proposal and demonstrate the real-time in appearance
feature extraction and robustness to illumination and visual angle change.
Hybrid Head Tracking for Wheelchair Control Using Haar Cascade Classifsier an...TELKOMNIKA JOURNAL
Disability may limit someone to move freely, especially when the severity of the disability is high. In order to help disabled people control their wheelchair, head movement-based control is preferred due to its reliability. This paper proposed a head direction detector framework which can be applied to wheelchair control. First, face and nose were detected from a video frame using Haar cascade classfier. Then, the detected bounding boxes were used to initialize Kernelized Correlation Filters tracker. Direction of a head was determined by relative position of the nose to the face, extracted from tracker’s bounding boxes. Results show that the method effectively detect head direction indicated by 82% accuracy and very low detection or tracking failure.
Human Segmentation Using Haar-ClassifierIJERA Editor
Segmentation is an important process in many aspects of multimedia applications. Fast and perfect segmentation of moving objects in video sequences is a basic task in many computer visions and video investigation applications. Particularly Human detection is an active research area in computer vision applications. Segmentation is very useful for tracking and recognition the object in a moving clip. The motion segmentation problem is studied and reviewed the most important techniques. We illustrate some common methods for segmenting the moving objects including background subtraction, temporal segmentation and edge detection. Contour and threshold are common methods for segmenting the objects in moving clip. These methods are widely exploited for moving object segmentation in many video surveillance applications, such as traffic monitoring, human motion capture. In this paper, Haar Classifier is used to detect humans in a moving video clip some features like face detection, eye detection, full body, upper body and lower body detection.
Multi Local Feature Selection Using Genetic Algorithm For Face IdentificationCSCJournals
Face recognition is a biometric authentication method that has become more significant and relevant in recent years. It is becoming a more mature technology that has been employed in many large scale systems such as Visa Information System, surveillance access control and multimedia search engine. Generally, there are three categories of approaches for recognition, namely global facial feature, local facial feature and hybrid feature. Although the global facial-based feature approach is the most researched area, this approach is still plagued with many difficulties and drawbacks due to factors such as face orientation, illumination, and the presence of foreign objects. This paper presents an improved offline face recognition algorithm based on a multi-local feature selection approach for grayscale images. The approach taken in this work consists of five stages, namely face detection, facial feature (eyes, nose and mouth) extraction, moment generation, facial feature classification and face identification. Subsequently, these stages were applied to 3065 images from three distinct facial databases, namely ORL, Yale and AR. The experimental results obtained have shown that recognition rates of more than 89% have been achieved as compared to other global-based features and local facial-based feature approaches. The results also revealed that the technique is robust and invariant to translation, orientation, and scaling.
To identify the person using gait knn based approacheSAT Journals
Abstract In human identification, the process of identifying the person by their gait is an emerging research trend in the field of visual surveillance. Gait is a new biometrics, has been recently used to recognize a person via style of his walking. While person walking variation becomes take place in different parts of body. On the basis of these variations, proposed method is evaluated on CASIA gait database by using K-nearest Neighbor classifier. Experimental results demonstrate that the proposed method has an encouraging recognition performance also the results indicate that the classification ability of KNN with correlation measure perform better than with other type of distance measure functions. Keywords: Gait biometrics, KNN, visual surveillance, CASIA, silhouette.
Robust Human Tracking Method Based on Apperance and Geometrical Features in N...csandit
This paper proposes a robust tracking method which concatenates appearance and geometrical
features to re-identify human in non-overlapping views. A uniformly-partitioning method is
proposed to extract local HSV(Hue, Saturation, Value) color features in upper and lower
portion of clothing. Then adaptive principal view selecting algorithm is presented to locate
principal view which contains maximum appearance feature dimensions captured from different
visual angles. For each appearance feature dimension in principal view, all its inner frames get
involved in training a support vector machine (SVM). In matching process, human candidate
filtering is first operated with an integrated geometrical feature which connects height estimate
with gait feature. The appearance features of the remaining human candidates are later tested
by SVMs to determine the object’s existence in new cameras. Experimental results show the
feasibility and effectiveness of this proposal and demonstrate the real-time in appearance
feature extraction and robustness to illumination and visual angle change.
Hybrid Head Tracking for Wheelchair Control Using Haar Cascade Classifsier an...TELKOMNIKA JOURNAL
Disability may limit someone to move freely, especially when the severity of the disability is high. In order to help disabled people control their wheelchair, head movement-based control is preferred due to its reliability. This paper proposed a head direction detector framework which can be applied to wheelchair control. First, face and nose were detected from a video frame using Haar cascade classfier. Then, the detected bounding boxes were used to initialize Kernelized Correlation Filters tracker. Direction of a head was determined by relative position of the nose to the face, extracted from tracker’s bounding boxes. Results show that the method effectively detect head direction indicated by 82% accuracy and very low detection or tracking failure.
Human Segmentation Using Haar-ClassifierIJERA Editor
Segmentation is an important process in many aspects of multimedia applications. Fast and perfect segmentation of moving objects in video sequences is a basic task in many computer visions and video investigation applications. Particularly Human detection is an active research area in computer vision applications. Segmentation is very useful for tracking and recognition the object in a moving clip. The motion segmentation problem is studied and reviewed the most important techniques. We illustrate some common methods for segmenting the moving objects including background subtraction, temporal segmentation and edge detection. Contour and threshold are common methods for segmenting the objects in moving clip. These methods are widely exploited for moving object segmentation in many video surveillance applications, such as traffic monitoring, human motion capture. In this paper, Haar Classifier is used to detect humans in a moving video clip some features like face detection, eye detection, full body, upper body and lower body detection.
Multi Local Feature Selection Using Genetic Algorithm For Face IdentificationCSCJournals
Face recognition is a biometric authentication method that has become more significant and relevant in recent years. It is becoming a more mature technology that has been employed in many large scale systems such as Visa Information System, surveillance access control and multimedia search engine. Generally, there are three categories of approaches for recognition, namely global facial feature, local facial feature and hybrid feature. Although the global facial-based feature approach is the most researched area, this approach is still plagued with many difficulties and drawbacks due to factors such as face orientation, illumination, and the presence of foreign objects. This paper presents an improved offline face recognition algorithm based on a multi-local feature selection approach for grayscale images. The approach taken in this work consists of five stages, namely face detection, facial feature (eyes, nose and mouth) extraction, moment generation, facial feature classification and face identification. Subsequently, these stages were applied to 3065 images from three distinct facial databases, namely ORL, Yale and AR. The experimental results obtained have shown that recognition rates of more than 89% have been achieved as compared to other global-based features and local facial-based feature approaches. The results also revealed that the technique is robust and invariant to translation, orientation, and scaling.
To identify the person using gait knn based approacheSAT Journals
Abstract In human identification, the process of identifying the person by their gait is an emerging research trend in the field of visual surveillance. Gait is a new biometrics, has been recently used to recognize a person via style of his walking. While person walking variation becomes take place in different parts of body. On the basis of these variations, proposed method is evaluated on CASIA gait database by using K-nearest Neighbor classifier. Experimental results demonstrate that the proposed method has an encouraging recognition performance also the results indicate that the classification ability of KNN with correlation measure perform better than with other type of distance measure functions. Keywords: Gait biometrics, KNN, visual surveillance, CASIA, silhouette.
Hybrid Domain based Face Recognition using DWT, FFT and Compressed CLBPCSCJournals
The characteristics of human body parts and behaviour are measured with biometrics, which are used to authenticate a person. In this paper, we propose Hybrid Domain based Face Recognition using DWT, FFT and Compressed CLBP. The face images are preprocessed to enhance sharpness of images using Discrete Wavelet Transform (DWT) and Laplacian filter. The Compound Local Binary Pattern (CLBP) is applied on sharpened preprocessed face image to compute magnitude and sign components. The histogram is applied on CLBP components to compress number of features. The Fast Fourier Transformation (FFT) is applied on preprocessed image and compute magnitudes. The histogram features and FFT magnitude features are fused to generate final feature. The Euclidian Distance (ED) is used to compare final features of test face images with data base face images to compute performance parameters. It is observed that the percentage recognition rate is high in the case of proposed algorithm compared to existing algorithms.
Robust Motion Detection and Tracking of Moving Objects using HOG Feature and ...CSCJournals
Detection and tracking of moving objects has gained significant importance due to intense technological progress in the field of computer science dealing with video surveillance systems. Human motion is generally nonlinear and non-Gaussian and thus many algorithms are not suitable for tracking. One of the applications to maintain universal security is crowd control. The main problem of video surveillance is continuous monitoring with regard to crime prevention. For security monitoring of live surveillance systems, target identification and tracking strategies can automatically send warnings to monitoring officers. In this paper, we propose a robust tracking of a specified person using the individuals' feature. The proposed method to determine automatic detection and tracking combines Histogram of Oriented Gradient (HOG) feature detection with a particle filter. The Histogram oriented Gradient features are applied to single detection window for the identification of human area, after we use particle filters for robust specific people tracking using color and skin color based on the characteristics of a target individual. We have been improving the implementation, evaluation system of our proposed methods. In our systems, for experiments, we choose structured crowded scenes. From our experimental results, we have achieved high accuracy detection rates and robust motion tracking for specific targets.
Reactive Navigation of Autonomous Mobile Robot Using Neuro-Fuzzy SystemWaqas Tariq
Neuro-fuzzy systems have been used for robot navigation applications because of their ability to exert human like expertise and to utilize acquired knowledge to develop autonomous navigation strategies. In this paper, neuro-fuzzy based system is proposed for reactive navigation of a mobile robot using behavior based control. The proposed algorithm uses discrete sampling based optimal training of neural network. With a view to ascertain the efficacy of proposed system; the proposed neuro-fuzzy system’s performance is compared to that of neural and fuzzy based approaches. Simulation results along with detailed behavior analysis show effectiveness of our algorithm in all kind of obstacle environments.
Face detection basedon image processing by using the segmentation methods for detection of the various types of the faces to helpfull for the many different careers and it will easy to do.
Implementation of features dynamic tracking filter to tracing pupilssipij
The objective of this paper is to show the implementation of an artificial vision filter capable of tracking the
pupils of a person in a video sequence. There are several algorithms that can achieve this objective, for this
case, features dynamic tracking selected, which is a method that traces patterns between each frame that
form a video scene, this type of processing offers the advantage of eliminating the problems of occlusion
patterns of interest. The implementation was tested on a base of videos of people with different physical
characteristics of the eyes. An additional goal is to obtain information of the eye movements that are
captured and pupil coordinates for each of these movements. These data could help some studies related to
eye health.
Recognition of Facial Emotions Based on Sparse CodingIJERA Editor
This paper deals with acknowledgment of characteristic feelings from human countenances is a fascinating subject with an extensive variety of potential applications like human-PC communication, robotized mentoring frameworks, picture and video recovery, brilliant situations, what's more, driver cautioning frameworks. Generally, facial feeling acknowledgment frameworks have been assessed on lab controlled information, which is not illustrative of the earth confronted in genuine applications. To vigorously perceive facial feelings in genuine regular circumstances, this paper proposes a methodology called Extreme Sparse Learning (ESL), which can mutually take in a word reference (set of premise) and a non-direct grouping model. The proposed approach consolidates the discriminative force of Extreme Learning Machine (ELM) with the reproduction property of meager representation to empower exact arrangement when given uproarious signs and blemished information recorded in common settings. Moreover, this work exhibits another neighborhood spatioworldly descriptor that is particular what's more, posture invariant. The proposed structure can accomplish best in class acknowledgment precision on both acted what's more, unconstrained facial feeling databases.
Artículo presentado por la Universidad de Vigo durante la jornada HOIP'10 organizada por la Unidad de Sistemas de información e interacción de TECNALIA.
Más información en http://www.tecnalia.com/es/ict-european-software-institute/index.htm
Robust 3 d face recognition in presence ofijfcstjournal
In this paper, we propose a robust 3D face recognition system which can handle pose as well as occlusions
in real world. The system at first takes as input, a 3D range image, simultaneously registers it using
ICP(Iterative Closest Point) algorithm. ICP used in this work, registers facial surfaces to a common model
by minimizing distances between a probe model and a gallery model. However the performance of ICP
relies heavily on the initial conditions. Hence, it is necessary to provide an initial registration, which will
be improved iteratively and finally converge to the best alignment possible. Once the faces are registered,
the occlusions are automatically extracted by thresholding the depth map values of the 3D image. After the
occluded regions are detected, restoration is done by Principal Component Analysis (PCA). The restored
images, after the removal of occlusions, are then fed to the recognition system for classification purpose.
Features are extracted from the reconstructed non-occluded face images in the form of face normals. The
experimental results which were obtained on the occluded facial images from the Bosphorus 3D face
database, illustrate that our occlusion compensation scheme has attained a recognition accuracy of
91.30%.
CDS is the criminal face identification by capsule neural network.
Solving the common problems in image recognition such as illumination problem, scale variability, and to fight against a most common problem like pose problem, we are introducing Face Reconstruction System.
The User as a Sensor: Navigating Users with Visual Impairments in Indoor Spac...Eelke Folmer
Indoor navigation systems for users who are visually impaired typically rely upon expensive physical augmentation of the environment or expensive sensing equipment; consequently few systems have been implemented. We present an indoor navigation system called Navatar that allows for localization and navigation by exploiting the physical char- acteristics of indoor environments, taking advantage of the unique sensing abilities of users with visual impairments, and minimalistic sensing achievable with low cost accelerometers available in smartphones. Particle filters are used to estimate the user’s location based on the accelerometer data as well as the user confirming the presence of anticipated tactile land- marks along the provided path. Navatar has a high possibility of large-scale deployment, as it only requires an annotated virtual representation of an indoor environment. A user study with six blind users determines the accuracy of the approach, collects qualitative experiences and identifies areas for improvement.
Hybrid Domain based Face Recognition using DWT, FFT and Compressed CLBPCSCJournals
The characteristics of human body parts and behaviour are measured with biometrics, which are used to authenticate a person. In this paper, we propose Hybrid Domain based Face Recognition using DWT, FFT and Compressed CLBP. The face images are preprocessed to enhance sharpness of images using Discrete Wavelet Transform (DWT) and Laplacian filter. The Compound Local Binary Pattern (CLBP) is applied on sharpened preprocessed face image to compute magnitude and sign components. The histogram is applied on CLBP components to compress number of features. The Fast Fourier Transformation (FFT) is applied on preprocessed image and compute magnitudes. The histogram features and FFT magnitude features are fused to generate final feature. The Euclidian Distance (ED) is used to compare final features of test face images with data base face images to compute performance parameters. It is observed that the percentage recognition rate is high in the case of proposed algorithm compared to existing algorithms.
Robust Motion Detection and Tracking of Moving Objects using HOG Feature and ...CSCJournals
Detection and tracking of moving objects has gained significant importance due to intense technological progress in the field of computer science dealing with video surveillance systems. Human motion is generally nonlinear and non-Gaussian and thus many algorithms are not suitable for tracking. One of the applications to maintain universal security is crowd control. The main problem of video surveillance is continuous monitoring with regard to crime prevention. For security monitoring of live surveillance systems, target identification and tracking strategies can automatically send warnings to monitoring officers. In this paper, we propose a robust tracking of a specified person using the individuals' feature. The proposed method to determine automatic detection and tracking combines Histogram of Oriented Gradient (HOG) feature detection with a particle filter. The Histogram oriented Gradient features are applied to single detection window for the identification of human area, after we use particle filters for robust specific people tracking using color and skin color based on the characteristics of a target individual. We have been improving the implementation, evaluation system of our proposed methods. In our systems, for experiments, we choose structured crowded scenes. From our experimental results, we have achieved high accuracy detection rates and robust motion tracking for specific targets.
Reactive Navigation of Autonomous Mobile Robot Using Neuro-Fuzzy SystemWaqas Tariq
Neuro-fuzzy systems have been used for robot navigation applications because of their ability to exert human like expertise and to utilize acquired knowledge to develop autonomous navigation strategies. In this paper, neuro-fuzzy based system is proposed for reactive navigation of a mobile robot using behavior based control. The proposed algorithm uses discrete sampling based optimal training of neural network. With a view to ascertain the efficacy of proposed system; the proposed neuro-fuzzy system’s performance is compared to that of neural and fuzzy based approaches. Simulation results along with detailed behavior analysis show effectiveness of our algorithm in all kind of obstacle environments.
Face detection basedon image processing by using the segmentation methods for detection of the various types of the faces to helpfull for the many different careers and it will easy to do.
Implementation of features dynamic tracking filter to tracing pupilssipij
The objective of this paper is to show the implementation of an artificial vision filter capable of tracking the
pupils of a person in a video sequence. There are several algorithms that can achieve this objective, for this
case, features dynamic tracking selected, which is a method that traces patterns between each frame that
form a video scene, this type of processing offers the advantage of eliminating the problems of occlusion
patterns of interest. The implementation was tested on a base of videos of people with different physical
characteristics of the eyes. An additional goal is to obtain information of the eye movements that are
captured and pupil coordinates for each of these movements. These data could help some studies related to
eye health.
Recognition of Facial Emotions Based on Sparse CodingIJERA Editor
This paper deals with acknowledgment of characteristic feelings from human countenances is a fascinating subject with an extensive variety of potential applications like human-PC communication, robotized mentoring frameworks, picture and video recovery, brilliant situations, what's more, driver cautioning frameworks. Generally, facial feeling acknowledgment frameworks have been assessed on lab controlled information, which is not illustrative of the earth confronted in genuine applications. To vigorously perceive facial feelings in genuine regular circumstances, this paper proposes a methodology called Extreme Sparse Learning (ESL), which can mutually take in a word reference (set of premise) and a non-direct grouping model. The proposed approach consolidates the discriminative force of Extreme Learning Machine (ELM) with the reproduction property of meager representation to empower exact arrangement when given uproarious signs and blemished information recorded in common settings. Moreover, this work exhibits another neighborhood spatioworldly descriptor that is particular what's more, posture invariant. The proposed structure can accomplish best in class acknowledgment precision on both acted what's more, unconstrained facial feeling databases.
Artículo presentado por la Universidad de Vigo durante la jornada HOIP'10 organizada por la Unidad de Sistemas de información e interacción de TECNALIA.
Más información en http://www.tecnalia.com/es/ict-european-software-institute/index.htm
Robust 3 d face recognition in presence ofijfcstjournal
In this paper, we propose a robust 3D face recognition system which can handle pose as well as occlusions
in real world. The system at first takes as input, a 3D range image, simultaneously registers it using
ICP(Iterative Closest Point) algorithm. ICP used in this work, registers facial surfaces to a common model
by minimizing distances between a probe model and a gallery model. However the performance of ICP
relies heavily on the initial conditions. Hence, it is necessary to provide an initial registration, which will
be improved iteratively and finally converge to the best alignment possible. Once the faces are registered,
the occlusions are automatically extracted by thresholding the depth map values of the 3D image. After the
occluded regions are detected, restoration is done by Principal Component Analysis (PCA). The restored
images, after the removal of occlusions, are then fed to the recognition system for classification purpose.
Features are extracted from the reconstructed non-occluded face images in the form of face normals. The
experimental results which were obtained on the occluded facial images from the Bosphorus 3D face
database, illustrate that our occlusion compensation scheme has attained a recognition accuracy of
91.30%.
CDS is the criminal face identification by capsule neural network.
Solving the common problems in image recognition such as illumination problem, scale variability, and to fight against a most common problem like pose problem, we are introducing Face Reconstruction System.
The User as a Sensor: Navigating Users with Visual Impairments in Indoor Spac...Eelke Folmer
Indoor navigation systems for users who are visually impaired typically rely upon expensive physical augmentation of the environment or expensive sensing equipment; consequently few systems have been implemented. We present an indoor navigation system called Navatar that allows for localization and navigation by exploiting the physical char- acteristics of indoor environments, taking advantage of the unique sensing abilities of users with visual impairments, and minimalistic sensing achievable with low cost accelerometers available in smartphones. Particle filters are used to estimate the user’s location based on the accelerometer data as well as the user confirming the presence of anticipated tactile land- marks along the provided path. Navatar has a high possibility of large-scale deployment, as it only requires an annotated virtual representation of an indoor environment. A user study with six blind users determines the accuracy of the approach, collects qualitative experiences and identifies areas for improvement.
Methodologies and evaluation of electronic travel aids for the visually impai...journalBEEI
Technological advancements have widely contributed to navigation aids. However, their large-scale adaptation for navigation solutions for visually impaired people haven’t been realized yet. Less participation of the visually impaired subject produces a designer-oriented navigation system which overshadows consumer necessity. The outcome results in trust and safety issues, hindering the navigation aids from really contribute to the safety of the targeted end user. This study categorizes electronic travel aids (ETAs) based on experimental evaluations, highlights the designer-centred development of navigation aids with insufficient participation of the visual impaired community. First the research breaks down the methodologies to achieve navigation, followed by categorization of the test and experimentation done to evaluate the systems and ranks it by maturity order. From 70 selected research articles, 51.4% accounts for simulation evaluation, 24.3% involve blindfolded-sighted humans, 22.9% involve visually impaired people and only 1.4% makes it into production and commercialization. Our systematic review offers a bird’s eye view on ETA development and evaluation and contributes to construction of navigational aids which really impact the target group of visually impaired people.
Eye(I) Still Know! – An App for the Blind Built using Web and AIDr. Amarjeet Singh
This paper proposes eye(I) still know!, a voice control solution for the visually impaired people. The main purpose is even though the blind cannot see they can still know where to go and what to do! Nearby 60% of total blind population across the world is present in India. In a time where no one likes to rely on anyone, this is a small effort to make the blind independent individuals. This can be achieved using wireless communication, voice recognition and image scanning. The application with the use of object identification will priorly inform about the barriers in the path.
The software will use the camera of the device and scan all the obstacles with their corresponding distances from the user. This will be followed by audio instructions through audio output of the device.
This will efficiently direct the user through his/her way.
Detection of immovable objects on visually impaired people walking aidsTELKOMNIKA JOURNAL
One consequence of a visually impaired (blind) person is a lack of ability in the activities related to the orientation and mobility. Blind person uses a stick as a tool to know the objects that surround him/her.The objective of this research is to develop a tool for blind person which is able to recognize what object in front of him/her when he/she is walking. An attached camera will obtain an image of an object which is then processed using template matching method to identify and trace the image of the object. After getting the image of the object, furthermore calculate and compare it with the data training. The output is produced in the form of sound that in accordance with the object. The result of this research is that the best slope and distance for the template matching method to properly detect silent objects is 90 degrees and 2 meters.
An Examination of Effectuation Dimension as Financing Practice of Small and M...iosrjce
IOSR Journal of Business and Management (IOSR-JBM) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of business and managemant and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications inbusiness and management. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
Does Goods and Services Tax (GST) Leads to Indian Economic Development?iosrjce
IOSR Journal of Business and Management (IOSR-JBM) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of business and managemant and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications inbusiness and management. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
Childhood Factors that influence success in later lifeiosrjce
IOSR Journal of Business and Management (IOSR-JBM) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of business and managemant and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications inbusiness and management. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
Emotional Intelligence and Work Performance Relationship: A Study on Sales Pe...iosrjce
IOSR Journal of Business and Management (IOSR-JBM) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of business and managemant and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications inbusiness and management. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
Customer’s Acceptance of Internet Banking in Dubaiiosrjce
IOSR Journal of Business and Management (IOSR-JBM) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of business and managemant and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications inbusiness and management. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
A Study of Employee Satisfaction relating to Job Security & Working Hours amo...iosrjce
IOSR Journal of Business and Management (IOSR-JBM) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of business and managemant and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications inbusiness and management. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
Consumer Perspectives on Brand Preference: A Choice Based Model Approachiosrjce
IOSR Journal of Business and Management (IOSR-JBM) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of business and managemant and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications inbusiness and management. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
Student`S Approach towards Social Network Sitesiosrjce
IOSR Journal of Business and Management (IOSR-JBM) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of business and managemant and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications inbusiness and management. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
Broadcast Management in Nigeria: The systems approach as an imperativeiosrjce
IOSR Journal of Business and Management (IOSR-JBM) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of business and managemant and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications inbusiness and management. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
A Study on Retailer’s Perception on Soya Products with Special Reference to T...iosrjce
IOSR Journal of Business and Management (IOSR-JBM) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of business and managemant and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications inbusiness and management. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
A Study Factors Influence on Organisation Citizenship Behaviour in Corporate ...iosrjce
IOSR Journal of Business and Management (IOSR-JBM) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of business and managemant and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications inbusiness and management. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
Consumers’ Behaviour on Sony Xperia: A Case Study on Bangladeshiosrjce
IOSR Journal of Business and Management (IOSR-JBM) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of business and managemant and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications inbusiness and management. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
Design of a Balanced Scorecard on Nonprofit Organizations (Study on Yayasan P...iosrjce
IOSR Journal of Business and Management (IOSR-JBM) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of business and managemant and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications inbusiness and management. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
Public Sector Reforms and Outsourcing Services in Nigeria: An Empirical Evalu...iosrjce
IOSR Journal of Business and Management (IOSR-JBM) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of business and managemant and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications inbusiness and management. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
Media Innovations and its Impact on Brand awareness & Considerationiosrjce
IOSR Journal of Business and Management (IOSR-JBM) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of business and managemant and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications inbusiness and management. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
Customer experience in supermarkets and hypermarkets – A comparative studyiosrjce
IOSR Journal of Business and Management (IOSR-JBM) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of business and managemant and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications inbusiness and management. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
Social Media and Small Businesses: A Combinational Strategic Approach under t...iosrjce
IOSR Journal of Business and Management (IOSR-JBM) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of business and managemant and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications inbusiness and management. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
Secretarial Performance and the Gender Question (A Study of Selected Tertiary...iosrjce
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Planning the Path and Avoidance Obstacles for Visually Impaired/Blind People
1. IOSR Journal of Computer Engineering (IOSR-JCE)
e-ISSN: 2278-0661,p-ISSN: 2278-8727, Volume 17, Issue 6, Ver. I (Nov – Dec. 2015), PP 147-151
www.iosrjournals.org
DOI: 10.9790/0661-1761147151 www.iosrjournals.org 147 | Page
Planning the Path and Avoidance Obstacles for Visually
Impaired/Blind People
Mohammed N. Abdullah 1
, Ayad E. Korial1*
1 Department of computer engineering, University of Technology,Baghdad, Iraq
Abstract: This paper suggests a navigation structure for visually impaired/blind people using A star algorithm.
The proposed structure is consisted of two parts. In the first part planning the path and in the second part
avoiding obstacles. The aim is to guidevisually impaired/blind people from a required location to a desired
location. Two tests are run in each part and modeled in C sharp language and MATLABprogram. Simulation
results show good performance for the proposed scheme that the visually impaired/blind people reach the
desired location successfully without error. In conclusion, A star path finding algorithm using C sharp language
was a valid and reliable method to guide the visually impaired / blind people from a required location to a
desired location in indoor environment with or without obstacles.
Keywords: Planning the path, avoidance obstacles, visually impaired/blind people, A star algorithm, path
finding, and indoor navigation.
I. Introduction
In the difficult context of day to day life of visually impaired/blind persons, the white cane still
represents the most popular tool used for obstacle detection, provided that the encountered locations have been
visited before and memorized. In an unfamiliar setting, they completely depend on other humans to reach the
desired destination [1].Sentient computing is the proposition that applications can be made more responsive and
useful by observing and reacting to the physical world. It is particularly attractive in a world of mobile users
and ubiquitous computers [2].Blind and visually impaired people have different important daily needs including
navigation. Navigation and way finding is crucial for the blind population, as for any other. Visually impaired
people in new environments may feel totally disoriented or isolated. These people can easily end up in
dangerous and confusing situations as they move in unknown places. Pressing navigation-related problems blind
people face include determining one’s position, heading or moving direction, and the detection of close objects
(most probably mobility barriers) [3].
Visually impaired people rely on different tools and skills to navigate. They usually rely on their white
canes, seeing-eye-dogs and other skills acquired over time to aid their navigation. Visually impaired people, that
are able to perceive sounds, tend to learn how to identify audible landmarks. In general, people supplement their
loss of sight by becoming better with other senses, even smell [4].
Cognitive mapping skills are flexible enough to adapt to the sensory loss. Even people who are blind
from birth can deal with spatial concepts and can find their way through different spaces [3].
Many technologies have been developed to assist blind users with different navigation needs. This
includes avoiding obstacles like laser canes and other handheld devices that transmit laser or ultrasound beams
to detect objects ahead of the user and give audio or vibration feedback that varies according to how close the
objects are [5, 6].In indoor navigation, we need two things, positioning system and suitable path finding
algorithm so research into indoor positioning systems has identified some possible technologies, but none of
these has been developed and distributed to consumers [7].
Guerrero et al., (2012) [8] demonstrated an indoor navigation system for the visually impaired. They
reported that a navigation in indoor environments was highly challenging for the severely visually impaired,
particularly in spaces visited for the first time. Several solutions have been proposed to deal with this challenge.
Kim and Chang (2013) [9] presented high-resolution touch floor system using particle swarm optimization
neural network. A touch floor system, based on force sensitive resistors, capable of identifying user position and
motion with high resolution, was proposed in this paper. Sun et al. (2014) [10] presented a new wearable
computer called eButton. The concepts of its design and electronic implementation were described. Zhang
et al. (2014) [11] described an indoor positioning algorithm for mobile objects based on track smoothing. A new
indoor positioning algorithm was proposed for mobile objects based on track smoothing. Abou Haidar and
Roger Achkar (2014)[12] proposed smart walker. Elderlies, blind or visually impaired people recur to a cane as
a traditional ambulation aid.
In this paper, planning the path part and avoiding obstacles part using A star algorithm is presented for
a visually impaired/blind people operating in two runs in each part using C sharp and MATLAB program.
2. Planning the Path and Avoidance Obstacles for Visually Impaired/Blind People
DOI: 10.9790/0661-1761147151 www.iosrjournals.org 148 | Page
II. Path Finding Algorithms
Path finding in the basic definition is moving an object from its initial position to the final location.
Path Finding Algorithms (PFA) are used in many different application areas such as: -Games and Virtual Tours,
Robot Motion and Navigation, Driverless Vehicles, Transportation Networks, and Human Navigation. Path
finding algorithms have many usage areas. These algorithms are useful in the field of roboticsbecause they can
be used to guide a robot around difficult terrain without human intervention [13].
There are many algorithms that are commonly known and used, ranging from simplex to
complex, in order to be able to solve the path finding problem. There also exist some algorithms that plan
the whole path before moving anywhere. Best-first algorithm expands nodes based on a heuristic estimate of the
cost to the goal. Nodes, which are estimated to give the best cost, are expanded first. The most commonly used
algorithm is A* algorithm, which is a combination of the Dijkstra algorithm and the best-first algorithm [14].
A* is one of the many search algorithms that takes an input, evaluates a number of possible paths and
returns a solution. In computer science, A* (as ―A star‖) is a computer algorithm that is widely used in
pathfinding and graph traversal, the process of plotting an efficiently traversable path between points, called
nodes [15].
III. System Design Navigation
Provided that the visually impaired/blind people (users) has traversed the path, our navigational system
should determine a user’s location, find the best path to a destination, and give meaningful instructions along
that path.While attempting to navigate an already constructed map, the system must track its belief about the
visually impaired/blind people current location on that map. Figure 1 shows in indoor navigation system.
Figure 1: In indoor navigation system.
IV. Overall System Navigation
In the case of a visually impaired/blind people, the navigation intelligence and local path planning is provided
by the person. Hence, our proposal focuses on the planning the path and the obstacles detection system to assist
visually impaired/blind people as shown in the Figure 2 below.
Figure 2: The structure of planning the path of visually impaired/blind people
In the same concept our proposed system of visually impaired/blind people when the environment or indoor
navigation contains several obstacles, our structure is shown in Figure 3 below.
Figure 3: The structure of avoiding the obstacles of visually impaired/blind people
1.1 Planned path results and discussion
Increasing sources of sensor measurements and prior knowledge have become available for indoor
localization on smartphones. How to effectively utilize these sources for enhancing localization accuracy is an
important yet challenging problem. In this section, we present planning the path of visually impaired/blind
3. Planning the Path and Avoidance Obstacles for Visually Impaired/Blind People
DOI: 10.9790/0661-1761147151 www.iosrjournals.org 149 | Page
people localization algorithm that exploits various sources of information. Specifically, we also introduce the
concept of A star algorithm to indicate the area where the visually impaired/blind people is in an indoor map.
In run 1 where the visually impaired/blind people is moved from start position (2,3) to goal position (20,10), and
in run 2 where the visually impaired/blind people is moved from start position (3,13) to goal position (22,1) the
results are shown in Figures 4 a, b and Figures 5 a, b respectively.
Figure 4 a: Indication of start and goal position of run 1
Figure 4 b: Visually impaired/blind people path planning using A star algorithm of run 1
Figure 5 a: Indication of start and goal position of run 2
5 b: Visually impaired/blind people path planning using A star algorithm of run 2
4. Planning the Path and Avoidance Obstacles for Visually Impaired/Blind People
DOI: 10.9790/0661-1761147151 www.iosrjournals.org 150 | Page
The evaluation of path points are done in distance unit using Matlab as shown in Figure 6, 7 for run 1 and run 2
respectively.
Figure 6: The evaluation of path points of run 1 Figure 7: The evaluation of path points of run 2
1.2 Avoiding Obstacles Results and Discussion
In this section, we present avoiding obstacles of visually impaired/blind people localization algorithm
that exploits various sources of information. Specifically, we also introduce the concept of A star algorithm to
indicate the area where the visually impaired/blind people is in an indoor map.
In run 1 where the visually impaired/blind people is moved from start position (1,7) to goal position (20,3), and
in run 2 where the visually impaired/blind people is moved from start position (6,4) to goal position (19,12) the
results are shown in Figures 8 a, b below Figure 9 a, b respectively.
Figure 8 a: Indication of start and goal position of run 1
Figure 8 b: Visually impaired/blind people obstacles avoidance using A star algorithm of run 1
Figure 9 a: Indication of start and goal position of run 2
2 4 6 8 10 12 14 16 18 20
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5. Planning the Path and Avoidance Obstacles for Visually Impaired/Blind People
DOI: 10.9790/0661-1761147151 www.iosrjournals.org 151 | Page
Figure 9 b: Visually impaired/blind people obstacles avoidance using A star algorithm of run 2
The evaluation of path points are done in distance unit using Matlab as shown in Figure 10, 11 for run
1 and run 2 respectively.
V. Conclusion
A star path finding algorithm using C sharp language guided the visually impaired / blind people from
a required location to a desired location in indoor environment with or without obstacles. This method was valid
and reliable.
References
[1]. Shah C., Bouzit M., Youssef M., and Vasquez L., ―Evaluation of RU-Netra Tactile Feedback Navigation System for the Visually
Impaired‖, International Workshop on Virtual Rehabilitation, pp. 72-77, 2006.
[2]. Hopper A. ―Sentient Computing?‖, Phil. Trans. R. Soc. Lond., A, (2000), Vol. 358, pp. 2349-2358, August 2000.
[3]. Hub A., Diepstraten J., Ertl T., ―Design and development of an indoor navigation and object identification system for the blind‖.
Assets '04 Proceedings of the 6th international ACM SIGACCESS conference on Computers and accessibility, pp. 147 - 152 ,
October 18 – 20, 2004.
[4]. Gardner J., ―Seeing with Other Senses: Gardens for the Blind‖. The Herb Companion, February 3, 2007.
http://www.perkins.org/news-events/press/seeing-with-other- senses.html, last visit November, 2015.
[5]. Lakde C. K., Prasad P. S. ―Review Paper on Navigation System for Visually Impaired People‖, IJARCCE, Vol. 4, Issue 1, 2015
[6]. Agarwal, N, Iyer, A. , Naidu, S. , Rodrigues, S. ―Electronic guidance system for the visually impaired — A framework‖,
Technologies for Sustainable Development (ICTSD), 2015 International Conference on Mumbai, IEEE, PP 1-5, 2015 DOI
10.1109/ICTSD.2015.7095872
[7]. Changdon Kee et al., ―Centimeter-Accuracy Indoor Navigation‖, GPS World, November 2001.
[8]. Guerrero, L.A.; Vasquez, F.; Ochoa, S.F., ―An Indoor Navigation System for the Visually Impaired‖, .Sensors, Vol.12, pp. 8236-
825, 2012.
[9]. Kim H.,Chang S., ―High-Resolution Touch Floor System Using Particle Swarm Optimization Neural Network‖,Sensors Journal,
IEEE, Vol. 13, pp. 2084-- 2093, June 2013.
[10]. Sun M., Bruke L., Mao et al., ―eButton: A Wearable Computer for Health Monitoring and Personal Assistance‖, Proceeding
DAC '14 Proceedings of the 51st Annual Design Automation Conference, , pp. 1-6, 2014.
[11]. Zhang Y. ; Zhang R.; Miao W. ; Xia W., Jia Z. ; Shen L., ―An Indoor Positioning Algorithm for Mobile Objects Based on Track
Smoothing‖,Advanced Infocomm Technology (ICAIT), 2014 IEEE 7th International Conference , pp. 252, 14-16Nov. 2014.
[12]. Abou Haidar G., Achkar R., Maalouf R., et al. ―SMART WALKER‖,2014 International Conference on Future Internet of Things
and Cloud, pp. 415, 2014.
[13]. Carsten J., ―Global Path Planning on board the Mars Exploration Rovers‖, IEEE Aerospace Conference, 2007.
[14]. Mustafa Kilinçarslan, ―Implementation Of A Path Finding Algorithm For the Navigation of visually Impaired People‖, Master
thesis. CH 2, PP26, 2007
[15]. Reddy H, ―Path Finding –Dijkstra’s and A* Algorithm’s‖, International Journal in IT and Engineering, pp 1-15, 2013.
Figure 10: The evaluation of path points of run 1
Figure 11: The evaluation of path points of run 2
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