Systems, Man & Cybernetics - April 2016 - 33

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A New Robotic Navigation Aid for the Visually Impaired

by Cang Ye,
Soonhac Hong,
Xiangfei Qian,
and Wei Wu

T

his article presents a new robotic navigation aid (RNA) called a co-robotic
cane (CRC). The CRC uses a three-dimensional (3-D) camera for both pose
estimation and object recognition in an unknown indoor environment. The
six-degrees-of-freedom (6-DOF) pose estimation method determines the
CRC's pose change by an egomotion estimation method and the iterative
closest point algorithm and reduces the pose integration error by a pose graph optimization algorithm. The pose estimation method does not require any prior knowledge of
the environment. The object recognition method detects indoor structures, such as
stairways and doorways, and objects, such as tables and computer monitors, by a
Gaussian mixture model (GMM)-based pattern-recognition method. Some structures/

A Co-Robotic Cane
Digital Object Identifier 10.1109/MSMC.2015.2501167
Date of publication: 23 August 2016

2333-942X/16©2016IEEE

Ap ri l 2016

IEEE SyStEmS, man, & CybErnEtICS magazInE

33


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Table of Contents for the Digital Edition of Systems, Man & Cybernetics - April 2016

Systems, Man & Cybernetics - April 2016 - Cover1
Systems, Man & Cybernetics - April 2016 - Cover2
Systems, Man & Cybernetics - April 2016 - 1
Systems, Man & Cybernetics - April 2016 - 2
Systems, Man & Cybernetics - April 2016 - 3
Systems, Man & Cybernetics - April 2016 - 4
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Systems, Man & Cybernetics - April 2016 - Cover3
Systems, Man & Cybernetics - April 2016 - Cover4
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