시각장애인의 안전한 보행을 위한 2D LiDAR-단안 카메라 기반 거리 측정 및 장애물 회피 시스템

초록

Ensuring safe and independent mobility for visually impaired individuals is essential for safeguarding their fundamental rights. This paper proposes a Sensor Fusion Autonomous Emergency Braking(AEB) system to achieve this goal. By calibrating a 2D LiDAR and a monocular camera, the system measures distance information from camera images, enabling obstacle detection and avoidance during navigation. Experiments were conducted to validate the system's accuracy and safety, including clustering, calibration, and distance measurement, as well as obstacle collision tests during autonomous navigation. Calibration results showed a reprojection error of 4.86 pixels, and the system ensured safe navigation without collisions. These findings confirm that the proposed system effectively supports safe and independent mobility for visually impaired individuals.

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