3D VERIFICATION AND MAPPING OF PHYSICAL BARRIER FOR WHEELCHAIRS WITH DEPTH AND COLOR IMAGES

Abstract

 Since Japan has an urgent need to respond to a super-aging society in recent years, the number of wheelchair users increases, and the government promotes barrier-free access. However, available barrier information around wheelchair users' lives is not sufficiently detailed. Therefore, this research proposes a barrier verification and mapping system that is easy to use and easy to understand for facility managers to maintain and manage barrier-free facilities. As a depth camera acquires a 3D point cloud of the target space, interference with volume could be occupied by the wheelchair is found as physical barriers. The detected barriers are highlighted and integrated with a wide-angle color camera frame to produce an augmented reality representation for generic users' easy understanding. Besides, collected barrier information can be efficiently reused for 3D mapping and accumulated through an image-based 3D reconstruction technique, SfM (structure from motion). This paper reports the implementation method and the barrier verification result obtained by the experiment. The experimental results show that the proposed system provides the compatibility of real-time barrier verification and efficient information recording.