Name: HEITOR DELESPORTE CONCEGLIERI

Publication date: 25/07/2023
Advisor:

Name	Role
ANSELMO FRIZERA NETO	Advisor *
RICARDO CARMINATI DE MELLO	Co-advisor *

Examining board:

Name	Role
ANSELMO FRIZERA NETO	Advisor *
CAMILO ARTURO RODRIGUEZ DIAZ	Internal Examiner *
RICARDO CARMINATI DE MELLO	Co advisor *

Summary: Thenumberofvisuallyimpairedpeopleintoday’ssocietyhasincreasedandvisionisof paramountimportancefortheindividual’sperception,orientationandlocationinthe environment.Devices,suchastraditionalcanesandguidedogs,andsmartcanes,which useultrasonicandinfraredsensors,areimplementedtoprovidesupporttousers.However, thesedeviceslackthemeanstoacquireimportantinformationtohelpinsituations commonlyreportedbyusers,suchasthedetectionandpositioningofhighobstacles.The presentstudyaimstopresentandvalidateanobjectdetectionstrategythroughimages capturedbyanRGB-Dcamera,dividedintotwostages.Inaddition,challengesand potentialitiesarealsodiscussedinthesynergisticimplementationofsuchastrategyto thedevicesalreadyusedtoaidlocomotion.TheuseofRGB-Dcamerasthenprovides relevantinformationthroughtheirdepthandRGBsensorstocomplementtheuseof traditionaldevicesandhelpusersmoveandnavigate.Asvariablesystemparameters (e.g.,theazimuthandpolarangles,andthedepthparameter)canconsiderablyaffectthe systemoperation,twogroupsofexperimentsarecarriedouttovalidatethestrategyand understandtheimpactsonthequalityofdetectionandoperationofthesystemduring navigation.Initially,thesystemisimplementedthroughthefirststageofthestrategy, withtheazimuthpresentingavariationratefrom0°to0.21ºandthedepthparameter, 1mmto14mm.Forthesecondgroupofexperiments,thesecondstepofthestrategy isemployedandanewdatabaseisgeneratedwithanewtrainedclass.Thetrainingof thenewclassallowsthesystemtodetect100%oftheimagesofthetrainedclasswitha minimumconfidencethresholdof0.887,indicatinggooddetectioncapability.Thesecond stageofthestrategyisabletodetectstaticanddynamicobjects,aswellaselevatedobjects andonthesameaxisasthecamera.Resultsoftheseexperiments,suchasthestandard deviationsofthepolaranglerangingfrom0.3°to0.34°,showtheviabilityoftheproposed detectionstrategyforbothstaticanddynamicscenarios,offeringalternativesforfurther studiesinrelationtoobjectdetectionformobilityassistanceforthevisuallyimpaired. Thegenerationofnewdatasetsfortheimplementationofthesysteminnewscenarios, suchastheurbanone,theintegrationindifferentmobilecomputationalplatformsaiming atpracticalityandmobility,andtheimplementationofotherfeedbackmethodstothe useraresomeofthefutureworksresultingfromthisresearch. Keywords:ComputerVision,Real-timedetection,Visuallyimpaired,RGB-Dcamera, Assistivetechnology.

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