相关论文: WanderGuide: Indoor Map-less Robotic Guide for Exp…
Navigation is an essential capability for mobile robots. In this paper, we propose a generalized yet effective 3M (i.e., multi-robot, multi-scenario, and multi-stage) training framework. We optimize a mapless navigation policy with a robust…
Guiding robots, in the form of canes or cars, have recently been explored to assist blind and low vision (BLV) people. Such robots can provide full or partial autonomy when guiding. However, the pros and cons of different forms and autonomy…
Although outdoor navigation systems are mostly dependent on GPS, indoor systems have to rely upon different techniques for localizing the user, due to unavailability of GPS signals in indoor environments. Over the past decade various indoor…
We present TangibleGrid, a novel device that allows blind users to understand and design the layout of a web page with real-time tangible feedback. We conducted semi-structured interviews and a series of co-design sessions with blind users…
Blind people face significant challenges when using smartphones. The focus on improving non-visual mobile accessibility has been at the level of touchscreen access. Our research investigates the challenges faced by blind people in their…
A robot navigating an outdoor environment with no prior knowledge of the space must rely on its local sensing to perceive its surroundings and plan. This can come in the form of a local metric map or local policy with some fixed horizon.…
Blind users rely on keyboards and assistive technologies like screen readers to interact with user interface (UI) elements. In modern applications with complex UI hierarchies, navigating to different UI elements poses a significant…
Robotic Exploration has evolved rapidly in the past two decades as new and more complex techniques have been created to explore unknown regions efficiently. Exciting advancements in exploration, autonomous navigation, and sensor technology…
Robotic exploration under uncertain environments is challenging when optical information is not available. In this paper, we propose an autonomous solution of exploring an unknown task space based on tactile sensing alone. We first designed…
The proposed system aims to be a techno-friend of visually impaired people to assist them in orientation and mobility both indoor and outdoor. Moving through an unknown environment becomes a real challenge for most of them, although they…
Knowing who is in one's vicinity is key to managing privacy in everyday environments, but is challenging for people with visual impairments. Wearable cameras and other sensors may be able to detect such information, but how should this…
No two people are alike. We usually ignore this diversity as we have the capability to adapt and, without noticing, become experts in interfaces that were probably misadjusted to begin with. This adaptation is not always at the user's…
Semantic maps allow a robot to reason about its surroundings to fulfill tasks such as navigating known environments, finding specific objects, and exploring unmapped areas. Traditional mapping approaches provide accurate geometric…
The development of embodied agents that can communicate with humans in natural language has gained increasing interest over the last years, as it facilitates the diffusion of robotic platforms in human-populated environments. As a step…
Multimodal interactive maps are a solution for presenting spatial information to visually impaired people. In this paper, we present an interactive multimodal map prototype that is based on a tactile paper map, a multi-touch screen and…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
Visually impaired persons find it difficult to know about their surroundings while walking on a road. Walking sticks used by them can only give them information about the obstacles in the stick's proximity. Moreover, it is mostly effective…
Quadruped platforms have become an active topic of research due to their high mobility and traversability in rough terrain. However, it is highly challenging to determine whether the clattered environment could be passed by the robot and…
Video games are increasingly accessible to blind and low vision (BLV) players, yet many aspects remain inaccessible. One aspect is the joy players feel when they explore environments and make new discoveries, which is integral to many…
Many people often take walking for granted, but for individuals with mobility disabilities, this seemingly simple act can feel out of reach. This reality can foster a sense of disconnect from the world since walking is a fundamental way in…