| 摘要 |
The present invention relates to an obstacle recognition apparatus for a blind person, which measures a forward depth image and information on the direction of the apparatus from a depth camera and a direction sensor to generate sidewalk information and notify the same to an output device such as a touch sensing device or the like. The obstacle recognition apparatus comprises: the depth camera taking a depth image; the direction sensor sensing the direction of the recognition apparatus; a calculation part calculating the position and height of the obstacle by using the depth image and the direction; and an output device outputting the position and height of the obstacle. The calculation part calculates a relative position in a camera coordinate system by using the coordinates of a pixel of the depth image and the depth of the pixel, and reversely rotates the relative position converted as the camera is inclined by using the direction to calculate the real position and real height of the pixel. It is determined that the obstacle is the pixel whose real height is greater than or equal to a fixed height. The obstacle recognition apparatus corrects the coordinates of the depth image from the depth camera with respect to the front of the blind person in the direction sensed by the direction sensor. Accordingly, the position and height of the obstacle is more accurately calculated and can be notified to the blind person. |
