SR_SLAM: SR4000 data interface, Plane aided RGBD-SLAM, 3D Mapping, LSD-SLAM wrapper for SR4000
This project utilizes a 3D camera with a white cane for blind navigation.
http://www.people.vcu.edu/~cye/proj10_co-robot_cane.htm
The details can be found in the following papers:
H. Zhang and C. Ye, "An Indoor Wayfinding System based on Geometric Features Aided Graph SLAM for the Visually Impaired," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 25, no. 9, pp. 1592-1604, 2017.
H. Zhang and C. Ye, "An indoor navigation aid for the visually impaired," in IEEE International Conference on Robotics and Biomimetics, 2016, QingDao (Finalist of Best Conference Paper Award)
A demo for human subject experiment is shown below
