{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,27]],"date-time":"2026-01-27T23:06:47Z","timestamp":1769555207529,"version":"3.49.0"},"reference-count":63,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2017,8,17]],"date-time":"2017-08-17T00:00:00Z","timestamp":1502928000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The use of RGB-Depth (RGB-D) sensors for assisting visually impaired people (VIP) has been widely reported as they offer portability, function-diversity and cost-effectiveness. However, polarization cues to assist traversability awareness without precautions against stepping into water areas are weak. In this paper, a polarized RGB-Depth (pRGB-D) framework is proposed to detect traversable area and water hazards simultaneously with polarization-color-depth-attitude information to enhance safety during navigation. The approach has been tested on a pRGB-D dataset, which is built for tuning parameters and evaluating the performance. Moreover, the approach has been integrated into a wearable prototype which generates a stereo sound feedback to guide visually impaired people (VIP) follow the prioritized direction to avoid obstacles and water hazards. Furthermore, a preliminary study with ten blindfolded participants suggests its effectivity and reliability.<\/jats:p>","DOI":"10.3390\/s17081890","type":"journal-article","created":{"date-parts":[[2017,8,21]],"date-time":"2017-08-21T04:12:17Z","timestamp":1503288737000},"page":"1890","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":38,"title":["Detecting Traversable Area and Water Hazards for the Visually Impaired with a pRGB-D Sensor"],"prefix":"10.3390","volume":"17","author":[{"given":"Kailun","family":"Yang","sequence":"first","affiliation":[{"name":"College of Optical Science and Engineering, Zhejiang University, Hangzhou 310027, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kaiwei","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Optical Science and Engineering, Zhejiang University, Hangzhou 310027, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7951-196X","authenticated-orcid":false,"given":"Ruiqi","family":"Cheng","sequence":"additional","affiliation":[{"name":"College of Optical Science and Engineering, Zhejiang University, Hangzhou 310027, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Weijian","family":"Hu","sequence":"additional","affiliation":[{"name":"College of Optical Science and Engineering, Zhejiang University, Hangzhou 310027, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiao","family":"Huang","sequence":"additional","affiliation":[{"name":"College of Optical Science and Engineering, Zhejiang University, Hangzhou 310027, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jian","family":"Bai","sequence":"additional","affiliation":[{"name":"College of Optical Science and Engineering, Zhejiang University, Hangzhou 310027, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2017,8,17]]},"reference":[{"key":"ref_1","unstructured":"World Health Organization (2017, June 06). 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