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JRM Vol.35 No.3 pp. 867-878
doi: 10.20965/jrm.2023.p0867
(2023)

Paper:

Grid Map Correction for Fall Risk Alert System Using Smartphone

Daigo Katayama*, Kazuo Ishii*, Shinsuke Yasukawa*, Yuya Nishida*, Satoshi Nakadomari** ORCID Icon, Koichi Wada**, Akane Befu**, and Chikako Yamada**

*Kyushu Institute of Technology
2-4 Hibikino, Wakamatsu-ku, Kitakyushu, Fukuoka 808-0196, Japan

**NEXT VISION
Kobe Eye Center 2F, 2-1-8 Minatojima-Minamimachi, Chuo-ku, Kobe, Hyogo 650-0047, Japan

Received:
December 12, 2022
Accepted:
March 29, 2023
Published:
June 20, 2023
Keywords:
electronic travel aids, smartphone application, negative obstacle detection
Abstract

In this work, we have incorporated an electronic travel aid (ETA) as a smartphone application that alerts fall risks to the visually impaired. The application detects negative obstacles, such as platform edges and stairs, and occlusion using a grid map including height information to estimate fall risk based on the distance from an area’s edge to the user, and the area ratio. Here, we describe a grid map correction method based on the surrounding conditions of each cell to avoid area misclassification. The smartphone application incorporating this correction method was verified in environments similar to station platforms by evaluating its usefulness, robustness against environmental changes, and stability as a smartphone application. The verification results showed that the correction method is, in fact, useful in actual environments and can be implemented as a smartphone application.

The grid map corrected by the proposed method

The grid map corrected by the proposed method

Cite this article as:
D. Katayama, K. Ishii, S. Yasukawa, Y. Nishida, S. Nakadomari, K. Wada, A. Befu, and C. Yamada, “Grid Map Correction for Fall Risk Alert System Using Smartphone,” J. Robot. Mechatron., Vol.35 No.3, pp. 867-878, 2023.
Data files:
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