Knowledge driven indoor object‐goal navigation aid for visually impaired people

Abstract

Abstract Aiming to help improve quality of life of the visually impaired people, this paper presents a novel wearable aid in the shape of a helmet for helping them find objects in indoor scenes. An object‐goal navigation system based on a wearable device is developed, which consists of four modules: object relation prior knowledge (ORPK), perception, decision and feedback. To make the aid also work well in unfamiliar environment, ORPK is used for sub‐goal inference to help the user find the target goal. And a method that learns the ORPK from unlabelled images by utilising a scene graph and knowledge graph is proposed. The effectiveness of the aid is demonstrated in real world experiments.

Keywords

• artificial intelligence
• cognitive systems
• computer vision
• robot learning
• robot perception
• robots