Semantic Segmentation to Help Navigate Blind People

Gardens Point Dataset with Pixel-Wise Traversable Area Annotations

Download Link, 600 images Unifying Terrain Awareness for the Visually Impaired through Real-Time Semantic Segmentation. K. Yang, K. Wang, L.M. Bergasa, E. Romera, W. Hu, D. Sun, J. Sun, R. Cheng, T. Chen, E. López. Sensors, 2018. [PDF]

In Defense of Multi-Source Omni-Supervised Efficient ConvNet for Robust Semantic Segmentation in Heterogeneous Unseen Domains. K. Yang, X. Hu, K. Wang, R. Stiefelhagen. In IEEE Intelligent Vehicles Symposium (IV), Las Vegas, United States, October 2020.

Semantic scene understanding on mobile device with illumination invariance for the visually impaired. C. Xu, K. Wang, K. Yang, R. Cheng, J. Bai. In SPIE Security + Defence Symposium, Strasbourg, France, September 2019. [PDF]

RGB-D-SS Dataset

Download Link, 400 RGB-D images

Robustifying Semantic Cognition of Traversability across Wearable RGB-Depth Cameras. K. Yang, L.M. Bergasa, E. Romera, K. Wang. Applied Optics, 2019. [Highlighted as an Editors' Pick] [PDF]

Crosswalk Sementation Dataset

Download Link, 191 images

Intersection perception through real-time semantic segmentation to assist navigation of visually impaired pedestrians. K. Yang, R. Cheng, L.M. Bergasa, E. Romera, K. Wang, N. Long. In IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, December 2018. [PDF]

Crosswalk navigation for people with visual impairments on a wearable device. R. Cheng, K. Wang, K. Yang, N. Long, W. Hu, H. Chen, J. Bai, D. Liu. Journal of Electronic Imaging, 2017. [PDF]

Curb Segmentation Dataset

Download Link, 100 images

Semantic perception of curbs beyond traversability for real-world navigation assistance systems. K. Yang, L.M. Bergasa, E. Romera, D. Sun, K. Wang, R. Barea. In IEEE International Conference on Vehicular Electronics and Safety (ICVES), Madrid, Spain, September 2018. [PDF]

Terrain Awareness Dataset

Download Link, 120 RGB-D images

Unifying terrain awareness through real-time semantic segmentation. K. Yang, L.M. Bergasa, E. Romera, R. Cheng, T. Chen, K. Wang. In IEEE Intelligent Vehicles Symposium (IV), Suzhou, China, June 2018. [PDF]

Unifying Terrain Awareness for the Visually Impaired through Real-Time Semantic Segmentation. K. Yang, K. Wang, L.M. Bergasa, E. Romera, W. Hu, D. Sun, J. Sun, R. Cheng, T. Chen, E. López. Sensors, 2018. [PDF]