{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:19:26Z","timestamp":1760242766205,"version":"build-2065373602"},"reference-count":30,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2016,5,11]],"date-time":"2016-05-11T00:00:00Z","timestamp":1462924800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Next-Generation Information Computing Development Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT &amp; Future Planning","award":["2012M3C4A7032182"],"award-info":[{"award-number":["2012M3C4A7032182"]}]},{"name":"The Industrial Convergence Core Technology Development Program funded by the Ministry of Trade, Industry &amp; Energy (MOTIE), Korea.","award":["10048474"],"award-info":[{"award-number":["10048474"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>An electronic guidance system is very helpful in improving blind people\u2019s perceptions in a local environment. In our previous work \u201cLin, Q.; Han, Y. A Context-Aware-Based Audio Guidance System for Blind People Using a Multimodal Profile Model. Sensors 2014, 14, 18670\u201318700\u201d, a context-aware guidance system using a combination of a laser scanner and a camera was proposed. By using a near-field graphical model, the proposed system could interpret a near-field scene in very high resolution. In this paper, our work is extended by adding a far-field graphical model. The integration of the near-field and the far-field models constitutes a dual-field sensing scheme. In the near-field range, reliable inference of the ground and object status is obtained by fusing range data and image data using the near-field graphical model. In the far-field range, which only the camera can cover, the far-field graphical model is proposed to interpret far-field image data based on appearance and spatial prototypes built using the near-field interpreted data. The dual-field sensing scheme provides a solution for the guidance systems to optimise their scene interpretation capability using simple sensor configurations. Experiments under various local conditions were conducted to show the efficiency of the proposed scheme in improving blind people\u2019s perceptions in urban environments.<\/jats:p>","DOI":"10.3390\/s16050667","type":"journal-article","created":{"date-parts":[[2016,5,11]],"date-time":"2016-05-11T04:38:53Z","timestamp":1462941533000},"page":"667","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["A Dual-Field Sensing Scheme for a Guidance System for the Blind"],"prefix":"10.3390","volume":"16","author":[{"given":"Qing","family":"Lin","sequence":"first","affiliation":[{"name":"Sports-IT Convergence Department, Soongsil University, 511, Sangdo-Dong, Dongjak-Gu, Seoul 156-743, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Youngjoon","family":"Han","sequence":"additional","affiliation":[{"name":"Department of Smart Systems Software, Soongsil University, 511, Sangdo-Dong, Dongjak-Gu, Seoul 156-743, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2016,5,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"18670","DOI":"10.3390\/s141018670","article-title":"A Context-Aware-Based Audio Guidance System for Blind People Using a Multimodal Profile Model","volume":"14","author":"Lin","year":"2014","journal-title":"Sensors"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1109\/TSMCC.2009.2021255","article-title":"Wearable Obstacle Avoidance Electronic Travel Aids for Blind: A Survey","volume":"40","author":"Dakopoulos","year":"2010","journal-title":"IEEE Trans. Syst. Man Cybern. Part C Appl. Rev."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"459","DOI":"10.1109\/5326.704589","article-title":"Auditory Guidance with the Navbelt\u2014A Computerized Travel Aid for the Blind","volume":"28","author":"Shoval","year":"1998","journal-title":"IEEE Trans. Syst. Man Cybern. Part C Appl. Rev."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"131","DOI":"10.1109\/3468.911370","article-title":"The Guidecane\u2014Applying Mobile Robot Technologies to Assist the Visually Impaired People","volume":"31","author":"Ulrich","year":"2001","journal-title":"IEEE Trans. Syst. Man Cybern. Part A Syst. Hum."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"78","DOI":"10.1007\/978-3-540-76702-2_9","article-title":"Obstacle Detection and Avoidance System for Visually Impaired People","volume":"4813","author":"Shin","year":"2007","journal-title":"Lect. Notes Comput. Sci."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"109","DOI":"10.1007\/s00371-006-0032-4","article-title":"A Wearable System for Mobility Improvement of Visually Impaired People","volume":"23","author":"Cardin","year":"2007","journal-title":"Vis. Comput. J."},{"key":"ref_7","unstructured":"Yuan, D., and Manduchi, R. (July, January 27). A Tool for Field Sensing and Environment Discovery for the Blind. Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, Washinton, DC, USA."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"1400","DOI":"10.1177\/0278364910373160","article-title":"Design and Analysis of a Portable Indoor Localization Aid for the Visually Impaired","volume":"29","author":"Hesch","year":"2010","journal-title":"Int. J. Robot. Res."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"1060","DOI":"10.1016\/j.robot.2011.08.005","article-title":"Human Navigation and Mapping with a 6DOF IMU and a Laser Scanner","volume":"59","author":"Baglietto","year":"2011","journal-title":"Robot. Auton. Syst."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Fallon, M.F., Johannsson, H., Brookshire, J., Teller, S., and Leonard, J.J. (2012, January 7\u201312). Sensor Fusion for Flexible Human-Portable Building-Scale Mapping. Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Vilamoura, Portugal.","DOI":"10.1109\/IROS.2012.6385882"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"257","DOI":"10.1016\/j.asoc.2005.06.005","article-title":"Fuzzy Image Processing Scheme for Autonomous Navigation of Human Blind","volume":"7","author":"Sainarayanan","year":"2007","journal-title":"Appl. Soft Comput."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"590","DOI":"10.1007\/978-3-642-16355-5_45","article-title":"A Smartphone-Based Obstacle Sensor for the Visually Impaired","volume":"6406","author":"Peng","year":"2010","journal-title":"Lect. Notes Comput. Sci."},{"key":"ref_13","first-page":"1","article-title":"Top-View Based Guidance for Blind People Using Directional Ellipse Model","volume":"1","author":"Lin","year":"2013","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_14","unstructured":"Bourbakis, N.G., Keefer, R., Dakopoulos, D., and Esposito, A. (2009, January 11\u201314). Towards a 2D Tactile Vocabulary for Navigation of Blind and Visually Impaired. Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, San Antonio, CA, USA."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"49","DOI":"10.1109\/MEMB.2007.901780","article-title":"Sensing Surrounding 3-D Space for Navigation of the Blind\u2014A Prototype System Featuring Vibration arrays and Data Fusion Provides a Near Real-time Feedback","volume":"27","author":"Bourbakis","year":"2008","journal-title":"IEEE Eng. Med. Biol. Maga."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Dunai, L., Fajarnes, G.P., Praderas, V.S., Garcia, B.D., and Lengua, I.L. (2010, January 7\u201310). Real-time Assistance Prototype\u2014A New Navigation Aid for Blind People. Proceedings of the 36th Annual Conference on IEEE Industrial Electronics Society, Glendale, CA, USA.","DOI":"10.1109\/IECON.2010.5675535"},{"key":"ref_17","first-page":"17477","article-title":"Assisting the Visually Impaired: Obstacle Detection and Warning System by Acoustic Feedback","volume":"12","author":"Yebes","year":"2012","journal-title":"Sensors"},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Pradeep, V., Medioni, G., and Weiland, J. (2010, January 13\u201318). Robot Vision for the Visually Impaired. Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, San Francisco, CA, USA.","DOI":"10.1109\/CVPRW.2010.5543579"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"584","DOI":"10.1007\/978-3-642-23768-3_88","article-title":"NAVI\u2014A Proof-of-Concept of a Mobile Navigational Aid for Visually Impaired based on the Microsoft Kinect","volume":"6949","author":"Huber","year":"2011","journal-title":"Lect. Notes Comput. Sci."},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Takizawa, H., Yamaguchi, S., Aoyagi, M., Ezaki, N., and Mizuno, S. (2012, January 16\u201318). Kinect Cane: An Assistive System for the Visually Impaired Based on Three-dimensional Object Recognition. Proceedings of the IEEE International Symposium on System Integration, Fukuoka, Japan.","DOI":"10.1109\/SII.2012.6426936"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"588","DOI":"10.1007\/978-3-642-31534-3_86","article-title":"KinDectect: Kinect Detecting Objects","volume":"7383","author":"Khan","year":"2012","journal-title":"Lect. Notes Comput. Sci."},{"key":"ref_22","unstructured":"Filipea, V., Fernandesb, F., Fernandesc, H., Sousad, A., Paredese, H., and Barrosof, J. (2012, January 19\u201322). Blind Navigation Support System Based on Microsoft Kinect. Proceedings of the 4th International Conference on Software Development for Enhancing Accessibility and Fighting Info-exclusion, Douro Region, Portugal."},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Brock, M., and Kristensson, P.O. (2013, January 8\u201312). Supporting Blind Navigation Using Depth Sensing and Sonification. Proceedings of the ACM Conference on Pervasive and Ubiquitous Computing Adjunct Publication, Zurich, Switzerland.","DOI":"10.1145\/2494091.2494173"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"105","DOI":"10.1109\/TPAMI.2008.275","article-title":"FASTER and better: A Machine Learning Approach to Corner Detection","volume":"32","author":"Rosten","year":"2010","journal-title":"IEEE Tran. Pattern Anal. Mach. Intell."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"177","DOI":"10.1007\/BF00201978","article-title":"Inverse Perspective Mapping Simplifies Optical Flow Computation and Obstacle Detection","volume":"64","author":"Mallot","year":"1991","journal-title":"Biol. Cybern."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"425","DOI":"10.1016\/j.patcog.2008.08.014","article-title":"Description of Interest Regions with Local Binary Patterns","volume":"42","author":"Schmid","year":"2009","journal-title":"Pattern Recogn."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"2227","DOI":"10.1109\/TPAMI.2014.2321376","article-title":"Scalable Nearest Neighbor Algorithms for High Dimensional Data","volume":"36","author":"Muja","year":"2014","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"37","DOI":"10.1016\/j.cviu.2015.09.005","article-title":"An Efficient Feature Descriptor Based on Synthetic Basis Functions and Uniqueness Matching Strategy","volume":"142","author":"Desai","year":"2016","journal-title":"Comput. Vis. Image Underst."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"1281","DOI":"10.1109\/TPAMI.2011.222","article-title":"BRIEF: Computing a Local Binary Descriptor Very Fast","volume":"34","author":"Calonder","year":"2012","journal-title":"IEEE Tran. Pattern Anal. Mach. Intell."},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Leutenegger, S., Chli, M., and Siegwart, R. (2011, January 6\u201313). BRISK: Binary Robust Invariant Scalable Keypoints. Proceedings of the IEEE International Conference on Computer Vision (ICCV), Barcelona, Spain.","DOI":"10.1109\/ICCV.2011.6126542"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/5\/667\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T19:23:39Z","timestamp":1760210619000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/5\/667"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,5,11]]},"references-count":30,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2016,5]]}},"alternative-id":["s16050667"],"URL":"https:\/\/doi.org\/10.3390\/s16050667","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2016,5,11]]}}}