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Exploring an unfamiliar indoor environment and avoiding obstacles ischallenging for visually impaired people. Currently, several approaches achievethe avoidance of static obstacles based on the mapping of indoor scenes. Tosolve the issue of distinguishing dynamic obstacles, we propose an assistivesystem with an RGB-D sensor to detect dynamic information of a scene. Once thesystem captures an image, panoptic segmentation is performed to obtain theprior dynamic object information. With sparse feature points extracted fromimages and the depth information, poses of the user can be estimated. After theego-motion estimation, the dynamic object can be identified and tracked. Then,poses and speed of tracked dynamic objects can be estimated, which are passedto the users through acoustic feedback.

Indoor Navigation Assistance for Visually Impaired People via Dynamic SLAM and Panoptic Segmentation with an RGB-D Sensor