Indoor-Outdoor Navigation System for Visually-Impaired Pedestrians: Preliminary Evaluation of Position Measurement and Obstacle Display

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1 Indoor-Outdoor Navigation System for Visually-Impaired Pedestrians: Preliminary Evaluation of Position Measurement and Obstacle Display Takeshi KURATA 12, Masakatsu KOUROGI 1, Tomoya ISHIKAWA 1, Yoshinari KAMEDA 2 Kyota AOKI 3 and Jun ISHIKAWA 4 1 AIST 2 University of Tsukuba 3 Utsunomiya University 4 University of Shizuoka We have developed a system that provides extensive support of visually impairedpedestrians over a wide area both indoors and outdoors. Our system (Figure 1) obtains positioning data from several sensing sources such as GPS, Wi Fi (PlaceEngine), PDR (Pedestrian Dead Reckoning), image based registration, and active RFID (if the infrastructure is in place), and integrates them based on each uncertainty. We also employ road network data for map matching. To ensure visually impaired pedestrians can move about in relative safety, the system is equipped with a laser range finder (LRF) to detect obstacles in the path ahead of the user. A tactile display (Braille Sense Plus by GW Micro) is applied for not only Braille but obstaclemap display.

2 Tactile obstacle map Image based geometric registration Image DB development support tool LRF Camera GPS Speaker PDR sensor (w/ RFID Reader) No obstacle Convex Concave or Uncertain Voice and Braille display Mobile Server Wi Fi Figure 1. Overview of indoor outdoor navigation system for visuallyimpaired pedestrians.

3 (2) Visually impaired w/ attendant (1) Visually impaired w/o attendant Goal Start (3) Typical pattern for visually unimpaired Actual walking route Walking speed [m/s] Acceleration gap [G] Figure 2. Walking speed parameters for visually impaired and unimpaired subjects.

4 Start: Yaesu underground mall End: Tokyo Yaesu North Exit Subject: one visually impaired male Length (m) Time (%) Indoors Outdoors Method Err. (m) GPS Wi Fi PDR Image based registration Active RFID Sensor fusion Map matching RMSE Max Min SD Coverage(%) Table 1. Positioning error and coverage on the trial course of each sensor and method.

5 Start: Yaesu underground mall End: Tokyo Yaesu North Exit Subject: one visually impaired male Length (m) Time (%) Green lines w/ dots: Ground Truth Red lines: By each sensor and method GPS Indoors Outdoors Wi Fi PDR Image based geometric registration Active RFID Sensor fusion Map matching Figure 3. Trajectories obtained with each sensor and method.

6 Mixed Reality Information Sharing Technology Package for Service Innovation Vertical Development (Integration, Added functionality, Higher performance) POS Operation estimation SDF (Sensor Data Fusion) (Absolute Localization) Visible light comm. etc. Voice activity detection/ Speech Recognition PDRplus (PDR+Action Recognition) PDR Service Field Simulator (SFS) Mieruka Tool Indoor 3D model creation and sharing Handheld PDR Image Registration Design support for service field and service process (Consultation Service) Cost reduction of business ethnography (Consultation Service) Service process analysis/ Shift schedule management (Labor intensive Service) QC circle activity assist (Labor intensive Service) Remote collaborative work assist (Maintenance Service) Navigation, Location based SNS (Mobile IT Service) Visually Impaired Assistant (Human Service) Embedding into Mobile Devices (Smartphone, PND, Camera, etc.) Management Consumers Consultant Employees Horizontal Development (Practical Applications)