Embedded solution to detect and classify head level objects using stereo vision for visually impaired people with audio feedback

This work presents an embedded solution for detecting and classifying head-level objects using stereo vision to assist blind individuals. A custom dataset was created, featuring five classes of head-level objects, selected based on a survey of visually impaired users. Object detection and classification were achieved using deep-neural networks such as YoloV5. The system computes the relative range and orientation of detected head-level objects and provides audio feedback to alert the user about nearby objects. Four types of tests were conducted: a dataset-based test, achieving a mAP@0.95 of 0.89 for head-level objects classification; a quantitative assessment of range and orientation, with an average error of 0.028 m +/- 0.004 and 2.05 degrees +/- 0.09, respectively; a field test conducted over a week at different times and lighting conditions, yielding a precision/recall of 98.21%/93.75% for head-level object classification; and user tests with Head-level identification accuracy of 91% and obstacle-avoidance/local-navigation where users reported an average of 88.75% for low or middle risk.