CASIA OpenIR  > 综合信息系统研究中心  > 飞行器智能技术


Other Abstract

In the open and complex outdoor environment, there are potential dangers for the blind when traveling. The use of visual navigation technology to assist the blind to travel and ensure their safety is of great significance and has great research and practical value. The main contributions are as follows:

(1) Research on Blind Track Segmentation Based on Deep Learning

This paper uses semantic segmentation based on deep learning to achieve visual perception. For the detection of blind tracks, the paper applies a lightweight semantic segmentation model. Aiming at the problem of insufficient data, a blind road segmentation data set is established for model training and evaluation.

(2)Research on Knowledge Distillation Algorithm for Semantic Segmentation

Most assistive devices for the blind are embedded mobile devices, and their computing resources are relatively limited. Considering the limited computing resources of embedded mobile devices, this paper studies the knowledge distillation for semantic segmentation, and proposes a novel semantic segmentation knowledge distillation method that focuses on spatial multi-scale differences, improves the segmentation effect of small models in traffic scenes, and balances the accuracy and efficiency.

(3)Research on Knowledge Expression and Decision Reasoning in Aided Navigation

The outdoor travel environment is highly dynamic and time-varying, which increases the difficulty of navigation decisions. The traffic rules and life experience related to decision-making in the travel scene are abstracted to knowledge, which is expressed to support visual perception and decision-making. The blind assisted navigation is abstracted into the decision-making process of the agent. Based on the belief-desire-intention (BDI) model, a framework is designed for assisted navigation combining knowledge, perception and decision-making.

Keyword盲人辅助 视觉导航 语义分割 知识蒸馏
Sub direction classification目标检测、跟踪与识别
Document Type学位论文
Recommended Citation
GB/T 7714
周至公. 盲人视觉辅助导航技术研究[D]. 中国科学院自动化研究所. 中国科学院自动化研究所,2021.
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Thesis.pdf(13620KB)学位论文 开放获取CC BY-NC-SA
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