KR101636235B1 - Voice guide device for braille block and method for recognition of braille block - Google Patents

Abstract

The present invention relates to a braille block voice guidance apparatus for detecting a braille block in a bottom surface photographing image and outputting guidance information corresponding to the braille block by voice, ≪ / RTI >
A method for recognizing a braille block in a braille block voice guidance apparatus and a photographed image according to the present invention comprises a photographing means for photographing a floor surface and a braille block recognizing means for recognizing a braille block in the bottom photographing image provided from the photographing means, And a voice guidance means for voice-outputting guidance information corresponding to the braille block, wherein the voice guidance means applies a particle filter to the photographed image on the basis of a representative color value corresponding to a braille block color, A directional filter bank is applied to a region determined as a braille block region to generate a plurality of subbands, and a predetermined number of subbands having a predetermined edge reference value or more And a braille analysis block for determining the type of the corresponding braille block based on the subbands And that is characterized.

Description

Technical Field [0001] The present invention relates to a braille block voice guidance apparatus and a method for recognizing braille blocks in a photographed image,

The present invention relates to a braille block voice guidance apparatus for detecting a braille block in a bottom surface photographing image and outputting guidance information corresponding to the braille block by voice, ≪ / RTI >

In general, visually impaired people go outdoors by recognizing a braille block installed on the floor by relying on a guide dog or a cane to overcome a visual obstacle.

The above-mentioned braille block is generally in the form of a yellow plate, and is configured to form a pointed or line-shaped protruding surface, that is, an edge component on its upper surface. At this time, the braille block has a meaning such as a straight line change or a direction change according to the edge component of the upper surface. For example, a linear braille block means a straight line, and a pointed braille block means a direction change.

In other words, the blind people walk along the braille block guidance line made up of a plurality of braille blocks, and walk by walking the edge component of each braille block several times with the staff or by recognizing through the sole feel.

However, it takes a long time for the visually impaired to recognize the braille block by only the sensation of the user through the cane or the sole of the foot, so that it takes much time to understand the meaning on the braille block. In the case of using the stick, Using a cane increases the amount of physical power consumed.

In recent years, a device has been proposed in which the vicinity of the visually impaired person is photographed through a camera, and analysis of the photographing information is performed to provide walking information corresponding to the braille block by voice. That is, the gait information providing apparatus judges the guidance line based on the continuity of the braille block, and outputs the gait information corresponding to the guided route.

However, the braille block is installed not only on the outside of the room but also on the floor in the building. In particular, as shown in Fig. 1, the bottom surface of the building is formed by a lighting lamp installed on the ceiling, and the braille block guiding line 1 and the illuminating light reflecting line 2 are formed on the bottom surface in different lines.

Therefore, when determining the guidance line based on the continuity of the braille blocks and providing the walking information, it may be a problem that the illumination light reflection line 2 is judged to be a guidance line and the walking information is misdirected. This can lead to a fatal danger to the visually impaired.

In order to solve the above-mentioned problem, a method of recognizing a braille block based on the color of a braille block has been proposed. However, since a fixed set value corresponding to a braille block unique color is used as a reference, There is a problem that the braille block can not be accurately recognized due to the unique color change of the braille block analyzed in the shot image depending on the surrounding environment such as being installed on the floor surface.

[Patent Literature]

1. Korean Patent No. 1294347 (entitled " Method of Recognizing Press Block Using Image Pattern Pattern and Texture Feature)

2. Korean Patent Laid-Open No. 2011-0120626 (Title of the Invention: Outdoor Area Recognition and Walking Guidance System for the Blind and Its Method)

Accordingly, the present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a method and apparatus for determining a braille block area based on continuity of a braille block and a representative color, The braille block voice area is updated to determine the braille block area and the directional filter bank is applied to the braille block area to determine the type of the braille block, And a method of recognizing a braille block in a photographed image.

According to an aspect of the present invention, there is provided an image processing apparatus including a photographing unit for photographing a bottom surface, a recognition unit for recognizing a braille block in a bottom surface photographing image provided from the photographing unit, Wherein the voice guidance means divides the photographed image into an effective image of a lower region and an invalid image of an upper region on the basis of a horizontal center line of an image to be photographed, A particle block filter is applied based on a representative color value corresponding to the braille block color to generate a braille block line corresponding to the position value of the particles distributed in the image to determine the braille block area, A directional filter bank is applied to generate a plurality of subbands, wherein subbands having a predetermined edge reference value or more The Braille blocks voice guidance device characterized in that the base comprises a Braille analysis block for judging the kind of the braille block to be provided.

In addition, the voice guidance unit applies a particle filter with the predetermined braille block inherent color value as a representative color value at the initial driving, updates the color value judged as a braille block area to a particle generation reference value And a particle filter is applied to the braille block voice guidance device.

The audio guidance unit is configured to perform a braille block recognition process on the valid image after dividing the valid image of the lower region and the invalid image of the upper region on the basis of the horizontal center line of the photographed image. A voice guidance apparatus is provided.

The audio guidance means divides the effective image of the photographed image provided from the photographing means into an upper image and a lower image based on the horizontal center line of the effective image and applies a particle filter to the upper image and the lower image, A particle is formed on the block, a center point is calculated based on the average value of the position coordinates of the particles, and then the upper center point calculated for the upper image is connected to the lower center point calculated for the lower image, A braille block voice guidance device is provided.

In addition, the voice guidance unit may be configured to form particles corresponding to a predetermined number of particles when the particle filter is applied to the upper side image and the lower side image.

The audio guidance means sets a plurality of sub-blocks having a certain area around the braille block line region, converts the RGB colors of the respective sub-blocks into CMY (Cyan Magenta Yellow) color, Block is determined to be a braille block area when a number of sub-blocks having a value greater than a reference value is greater than or equal to a predetermined number.

When the calculated value of the Y-value is less than a predetermined number of sub-blocks, the voice guidance unit selects any number of sub-blocks among the plurality of sub-blocks and applies a directional filter bank to the selected sub- And determining the presence or absence of the braille block area by analyzing the edge component.

형태로 형성되고, In addition, the audio guidance means divides the region determined as a braille block region into first through eighth subbands corresponding to eight different directions through directional filter bank processing,

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Wherein the voice guidance unit determines that the braille block is a linear braille block when the values of the second and third subbands are equal to or greater than a predetermined edge reference value.

형태로 형성되고, 상기 음성안내수단은 상기 제6 및 제7 서브밴드의 값이 기 설정된 에지 기준값 이상인 경우 해당 점자블럭을 점형 점자블럭으로 판단하는 것을 특징으로 하는 점자블럭 음성안내장치가 제공된다.In addition, the audio guidance means divides the region determined as a braille block region into first through eighth subbands corresponding to eight different directions through directional filter bank processing,

Wherein the voice guidance unit determines that the braille block is a pointed block if the value of the sixth and seventh subbands is equal to or greater than a predetermined edge reference value.

If the values of the sixth and seventh subbands are equal to or greater than the edge reference value and the values of the second and third subbands are equal to or greater than the edge reference value, the voice guidance unit determines the corresponding braille block as a pointed block. A braille block voice guidance device is provided.

The braille block audio guidance apparatus is characterized in that the photographing means and the voice guidance means are integrally formed.

In addition, the photographing means and the voice guidance means are constituted by separate modules and are configured to be coupled through wireless or wired lines.

In addition, the photographing means may include a camera, and the camera may be mounted on a wearer's body.

Further, the present invention provides a braille block voice guidance apparatus characterized in that the camera is mounted on a user's hat or glasses.

In addition, the voice guidance unit may include a voice output unit for outputting a braille block guidance message, and the voice output unit may be a wireless or wired type earphone.

According to another aspect of the present invention, there is provided a method for recognizing a braille block in an image including a bottom surface, the method comprising the steps of: And generates a braille block line corresponding to the positional value of the particles distributed in the image by applying a particle filter based on the particle generation reference value corresponding to the braille block color for the effective image so that the braille block line is divided into the braille block area And generating a plurality of subbands according to a direction by applying a directional filter bank to a region determined to be a braille block region in the first step, And a second step of determining a type of the braille block in the photographed image, The expression method is provided.

In the first step, the particle filter is applied on the basis of the braille block unique color value preliminarily set in the braille block region, and then the color value determined as the previous braille block region is updated to the particle creation reference value And a particle filter is applied to the particle filter. A method of recognizing a braille block in a photographed image is provided.

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The first step may include dividing the image into an upper image and a lower image based on a horizontal center line of the effective image, applying a particle filter to the upper image and the lower image to form particles on the braille block of the image, A braille block line is generated by connecting the upper center point calculated for the upper image and the lower center point calculated for the lower image after calculating the center point based on the average value of the position coordinates, A recognition method is provided.

In the first step, a plurality of sub-blocks having a certain area centered on the braille block line region are set, and the RGB colors of the respective sub-blocks are converted into CMY (Cyan Magenta Yellow) And determining that the braille block area is a braille block area when the number of subblocks having a value larger than the reference value is greater than or equal to a predetermined number.

If the number of sub-blocks having a value greater than the reference value calculated in the first step is less than a predetermined number, an arbitrary number of sub-blocks are selected from among the plurality of sub-blocks, and a directional filter bank is applied to the selected sub- And the edge component is analyzed to determine whether or not the area is a braille block area.

형태로 형성되고, 상기 제2 및 제3 서브밴드의 값이 기 설정된 에지 기준값 이상인 경우 해당 점자블럭을 선형 점자블럭으로 인식하는 것을 특징으로 하는 촬영영상에서의 점자블럭 인식방법이 제공된다.In the second step, the region determined as the braille block region in the first step is divided into first to eighth subbands corresponding to eight different directions using directional filter bank processing, The eighth subband

And when the values of the second and third subbands are equal to or greater than a predetermined edge reference value, the braille block is recognized as a linear block of braille.

형태로 형성되고, 상기 제6 및 제7 서브밴드의 값이 기 설정된 에지 기준값 이상인 경우 해당 점자블럭을 점형 점자블럭으로 인식하는 것을 특징으로 하는 촬영영상에서의 점자블럭 인식방법이 제공된다.In the second step, the region determined as the braille block region in the first step is divided into first to eighth subbands corresponding to eight different directions using directional filter bank processing, The eighth subband

And the braille block is recognized as a pointed block if the values of the sixth and seventh subbands are equal to or greater than a predetermined edge reference value.

If the values of the sixth and seventh subbands are equal to or greater than the edge reference value and the values of the second and third subbands are equal to or greater than the edge reference value in the second step, the corresponding braille block is recognized as a pointed braille block. A method of recognizing a braille block in a photographed image is provided.

According to the present invention, a braille block area is determined based on a representative color of a braille block in a bottom surface photographing image, and a reference color for determining a braille block area is updated in a predetermined period unit, It is possible to provide a walking guidance service with improved reliability to the user.

In addition, according to the present invention, it is possible to provide a safer walking guidance service by solving the problem of misinterpreting the illumination light reflected and reflected from the floor surface of the room to a braille block.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view illustrating an indoor floor image including an illuminating light reflection line and a braille block guidance line. FIG.
2 is a view schematically showing a configuration of a braille block voice guidance device according to a first embodiment of the present invention.
3 is a diagram illustrating an installation state of the voice guidance apparatus shown in FIG. 2;
FIG. 4 is a diagram for explaining a braille block audio guidance process of the controller 230 shown in FIG. 2. FIG.
5 is a diagram for explaining a process of extracting a braille line through a particle filter in the braille line determination process 232 shown in FIG.
FIG. 6 is a diagram for explaining a process of checking a braille area through CMY color conversion in the braille area confirmation process 233 shown in FIG. 4. FIG.
FIG. 7 is a diagram for explaining a process of analyzing a braille block type through a directional filter bank in the braille analysis process 234 shown in FIG. 4; FIG.

Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 is a view showing a schematic configuration of a braille block voice guidance device according to a first embodiment of the present invention.

2, the braille block audio guidance apparatus according to the present invention includes a photographing means 100 for photographing a floor surface, a recognition unit 120 for recognizing a braille block in the photographed image provided from the photographing means 100, And a power supply means 300 for outputting voice guidance information corresponding to the voice guidance information.

Here, the photographing means 100, the voice guidance means 200 and the power source means 300 may be integrally formed or the power source means 300 may be composed of a voice guidance means 200 and one module, 100 may be configured in a separate, separate module form. In this case, when the photographing means 100 and the voice guidance means 200 / power source means 300 are separated from each other, the photographing means 100 and the voice guidance means 200 / Or wirelessly. For example, the photographing means 100 may be mounted on a hat or glasses, and the voice guidance means 200 may be housed in a pocket of a garment worn by a user.

That is, the braille block voice guidance apparatus can be used by being worn by a wearer 101 such as a hat or glasses worn by a user, for example, a visually impaired person, as shown in FIG. At this time, the braille block voice guiding apparatus can be detachably attached to the wearing object 101 such as a hat or a pair of glasses. Of course.

At this time, the photographing means 100 includes a camera for photographing a floor surface. 3, the photographing means 100 is arranged in a state of being coupled to the specific wearing material 101, and in a state where the photographing means 100 is coupled to the wearing material, It is preferable that the photographing angle of the camera is appropriately set. Although not shown, the photographing means 100 includes a sensor for detecting the photographing angle of the camera, and an angle adjusting member (not shown) for adjusting the photographing angle of the camera based on the control signal provided from the voice guiding means 200. [ As shown in Fig.

The power supply means 300 provides a power supply Vcc for operating the photographing means 100 and the voice guidance means 200. At this time, it is preferable that the power source means 300 is configured as a portable battery.

2, the voice guidance unit 200 includes an audio output unit 210, a data memory 220, a control unit 230, and an information input unit 240. [

The voice output unit 210 is for outputting voice guidance information corresponding to the braille block, and may be composed of, for example, a speaker or an earphone. The voice output unit 210 may be connected to the controller 230 in a wireless or wired manner and spaced apart from the controller 230 so that the user can more clearly hear the announcement voice. For example, the user can easily listen to the braille block guidance voice while wired or wireless earphone is plugged into the ear. This can solve the problem that the user can not correctly hear the announcement voice due to the roadside noise.

The data memory 220 stores various information related to braille block voice guidance. The data memory 220 stores information including a voice guidance message corresponding to the braille block, a reference setting value for recognizing the braille block, and various processing information processed by the controller 230. Here, the reference set value information includes a particle creation reference value and particle number applied to the particle filter, a "Y" reference value for determining a braille block area, and a subband reference value for determining a braille block type. In addition, the processing information of the controller 230 may include current volume level and on / off driving status information.

When the user makes a request for driving through the information input unit 240 while the user goes out, the control unit 230 controls the power source unit 300 to provide the power source to each device, Recognizes the braille block in the photographed image provided from the image memory 100 and controls the data memory 220 to read the guidance message corresponding to the braille block type and output the voice message through the voice output unit 210.

The information input unit 240 is for inputting environment setting information of the braille block audio guidance apparatus. For example, when the user sets the volume level of the audio output unit 210 up / down (UP / DOWN) (ON / OFF) key to set the operation state.

4 is a diagram illustrating a braille block audio guidance process of the controller 230 shown in FIG. At this time, the controller 230 recognizes a braille block in the photographed image and performs a voice guidance process so as to correspond to the braille block recognition result.

4, the control unit 230 includes a photographed image dividing process 231, a braille line determination process 232, a braille area confirmation process 233, a braille analysis process 234, and a voice guidance process 235, .

1. Photographed image dividing processing (231)

The control unit 230 first divides the photographed image provided from the photographing means 100 into an effective image and an invalid image. At this time, the effective image is the lower region based on the horizontal center line (not shown) of the photographed image, and the invalid image is set to the upper region based on the horizontal center line of the photographed image. This is because, in the present invention, provision of information about a position close to a user, for example, a blind person, is prioritized, so that the upper side image of the photographed image is separated into the invalid image to avoid the subsequent image processing, Can be improved.

Then, the control unit 230 divides the effective image corresponding to the lower region of the captured image into upper and lower images UP and LP by dividing the effective image into upper and lower regions based on the horizontal center line (not shown) do. Hereinafter, the controller 230 performs a braille block recognition process on the valid image and a voice guidance process based on the braille block recognition.

On the other hand, when the controller 230 detects motion or the like through comparison with a previous image in the invalid image of the photographed image, the control unit 230 determines that there is a person based on the motion, It is also possible. For example, when the control unit 230 determines that a person is detected from the invalid image of the photographed image, the control unit 230 can output a voice message of "There is a person in front ".

2. Braille line determination processing (232)

5, the controller 230 applies a particle filter to the divided photographed images, and calculates a difference between the upper image UP and the lower image LP based on the distribution of the generated particles The center points CU and CL of the braille block lead lines BL are calculated and the center points CU and CL are connected to generate the braille lines L so as to correspond to the regions where the braille blocks are formed. That is, the controller 230 firstly determines the braille block area by generating the braille line L on the braille block guide line BL.

 At this time, the particle generation reference value and the number of particles for applying the particle filter to the upper image UP and the lower image LP are set in advance. The particle generation reference value may be set to a value corresponding to an intrinsic color of the braille block, for example, yellow.

That is, when a particle filter is applied to the upper image UP and the lower image LP, as shown in FIG. 5, the particles having a representative color value, that is, a plurality of particles P are formed by the number of predetermined particles. The control unit 230 calculates the center point CU and CL based on the average value of the position coordinates of the particles P in the upper image UP and the lower image LP to generate the braille line L. [

If the center point is not calculated because the particles are dispersed over a wide range with respect to the upper image UP and the lower image LP or particles are generated under a certain number, It is checked again whether the lower center point DC of the lower image LP is calculated. When the lower center point DC is calculated, the voice message of " When the lower center point DC is not calculated, the voice output unit 210 outputs a voice message of "Unrecognizable" through the voice output unit 210.

The controller 230 initially applies a particle filter based on a particle generation reference value corresponding to a previously registered braille block unique color value, for example, a yellow color, and then updates a particle generation reference value in a predetermined cycle, for example, And the particle filter is applied based on the updated representative color value. This is because, even if the updated particle generation reference value is a braille block of the same color by the surrounding environment such as the user's current position or weather, it is possible to adapt to the change of the surrounding environment as much as possible considering that the numerical value by the brightness and chroma of the intrinsic color is changed. This is to determine the braille block area. This also has the effect of blocking the reflection line of the illumination lamp having a difference between the inherent color of the braille block and a remarkable numerical value.

3. Braille area confirmation processing (233)

The controller 230 sets a plurality of subblocks SB having a certain area centered on a braille line L (not shown) formed on the braille block guide line BL as shown in FIG. 6A, And secondarily confirms the braille block area based on the color of the block SB. At this time, the braille area confirmation process is a process of additionally confirming the braille block area, and it can be selectively performed after the braille line determination process 232 described above.

In addition, the controller 230 converts the RGB color of each sub-block SB into a CMY color through a CMY (Cyan Magenta Yellow) color conversion algorithm and outputs "Y (Yellow ), And when the value of "Y" for a predetermined number of subblocks (SB) is equal to or greater than a preset reference value, the area is determined as a braille block area. At this time, the controller 230 may provide the 'RGB' value of the sub-block SB determined as the braille block area as the update particle generation reference value.

If it is determined that the number of subblocks SB having a value of Y equal to or greater than the preset reference value is less than a predetermined number, the controller 230 controls the subblocks SB among the multiple subblocks SB, The subblock SB set in the lower image LP is selected and a directional filter bank to be described later is applied to the selected subblock SB to determine whether the current user is located on the braille block based on the converted subband value . For example, the controller 230 applies a directional filter bank to three sub-blocks SB corresponding to the third, sixth and ninth sub-blocks SB among the ten sub-blocks SB set to the lower image LP, By analyzing the edge component, it is judged whether or not it is a braille block area. At this time, if it is determined that the corresponding area is not the braille block area as a result of the edge component analysis among the selected sub-blocks SB, a voice message "Unrecognizable" On the other hand, if it is determined that the corresponding area is a braille block area as a result of edge component analysis of at least one sub-block SB among the selected sub-blocks SB, the controller 230 determines that the current user is on the braille block. This is to allow the user to recognize that the current position is on the sub-block even though the "Y" sum value of the entire sub-block (SB) is below the reference value because the user is at the end of the braille block. In addition, since the color of the braille block changes in the photographed image due to the indoor illumination, the sum value of the sub-block SB can be calculated to be less than the reference value, and the edge component analysis is performed through application of the directional filter bank It is again confirmed that the current area is the braille block area, thereby minimizing the error due to the braille block recognition.

6B is a diagram illustrating a "Y" image conversion state determined to be a braille block area using a CMY (Cyan Magenta Yellow) color conversion algorithm.

4. Braille analysis processing (234)

The controller 230 controls the directional filter bank 240 to be set to a region determined to be a braille block region by the braille line determination process 232 or the braille region confirmation process 233 and more specifically to a braille block region set to the lower image LP. (DFB, Directional Filter Bank) to determine the edge component of the corresponding braille block, thereby analyzing the type of braille block.

The directional filter bank is a filter bank for efficiently decomposing an input image into image bands for a plurality of directions, and a subband of an image generated through the directional filter bank is formed as shown in FIG. Here, in the image analysis processing through the directional filter bank, a technique of generating a subband of the type as shown in FIG. 7A is a well-known technique, and a detailed description thereof will be omitted.

That is, when the directional filter bank is applied, the braille block area is divided into first to eighth subbands corresponding to eight different directions, and as shown in FIG. 7A, The first through fourth subbands 1, 2, 3 and 4 are arranged in a transversely long shape and the lower side is divided into fifth through eighth subbands 5, 6 , 7, 8) are disposed. In general, the braille block is divided into a line type block and a point type block. As a result of experiments by the present inventors, as shown in FIG. 7B, a linear block has a vertical direction in the sub- The values of the second and third subbands representing the magnitude of the component are higher than the predetermined edge reference value, and the dotted block is the sixth and seventh subbands representing the magnitude of the horizontal component in the subband region of FIG. The controller 230 determines that the corresponding braille block is a linear block in the braille block area where the second and third subband values are equal to or greater than the edge reference value, 6 and the seventh sub-band value is equal to or greater than the edge reference value, the corresponding braille block is determined to be a pointed block.

Here, since the pointed braille block has a variety of components in various directions due to its point characteristic, the sixth and seventh sub-band values are largely unchanged even under changing conditions, Respectively. That is, when the sixth and seventh subband values are greater than or equal to the edge reference value and the second and third subband values are greater than or equal to the edge reference value, the controller 230 determines the corresponding braille block as a pointed block.

5. Voice guidance processing (235)

The control unit 230 outputs a guidance message corresponding to the braille block type determined by the braille analysis process 234 through the voice output unit 210. [ For example, the control unit 230 outputs a voice message "Go Straight" for the linear braille block, and controls to output the announcement message "Please select a direction. At this time, the controller 230 controls to output a voice message to a level corresponding to a predetermined volume level.

That is, according to the embodiment, a braille block line is generated by using a particle filter in the photographed image to primarily determine a braille block area, and a plurality of sets having a certain area centered on the braille block line are set, And a directional filter bank is applied to the sub-block determined to be the braille block area to determine the type of the corresponding braille block. Thus, It is possible to provide a safe walking guidance service to the user by performing accurate recognition of the braille block.

In addition, according to the present invention, the braille block representative color value, which is a reference for the determination of the braille block area in the photographed image, is updated to the RGB value determined as the previous braille block area on a predetermined cycle basis to determine the braille block area, It is possible to adaptively recognize the Braille block.

Although the present invention has been described in connection with the above-mentioned preferred embodiments, it is possible to make various modifications and variations without departing from the spirit and scope of the invention. Accordingly, the scope of the appended claims should include all such modifications and changes as fall within the scope of the present invention.

100: photographing means, 200: voice guidance means,
The present invention relates to an image processing apparatus and a method thereof, and more particularly,
232: Braille line determination processing, 233: Braille area confirmation processing,
234: braille analysis processing, 300: power source means,
UP: upper image, LP: lower image,
BL: Braille block induction line, L: Braille line,
P: Particle, SB: Sub-block.

Claims (24)

A photographing means for photographing the bottom surface,
And voice guidance means for recognizing a braille block in the bottom surface photographing image provided from the photographing means and outputting a guidance message corresponding to the braille block type,
The voice guidance means divides the photographed image into a valid image of a lower region and an invalid image of an upper region on the basis of a horizontal center line of the photographed image, and then, based on the representative color value corresponding to the braille block color, A particle filter is applied to generate a braille block line corresponding to the position of the particles distributed in the image to determine a braille block area and a directional filter bank is applied to a region determined to be a braille block area to generate a plurality of subbands And a braille analysis block for determining a type of the corresponding braille block based on a subband having a predetermined edge reference value or more. The method according to claim 1,
The audio guidance means applies the particle filter with the predetermined color value of the braille block as a representative color value at the initial driving, updates the color value determined as the braille block region to the particle generation reference value, Is applied to the braille block voice guidance device. delete The method according to claim 1,
Wherein the voice guidance means divides the effective image of the photographed image provided from the photographing means into an upper image and a lower image based on a horizontal center line of the effective image and applies a particle filter to the upper image and the lower image, The center point is calculated on the basis of the average value of the position coordinates of the particles and then the upper center point calculated for the upper image and the lower center point calculated for the lower image are connected to generate a braille block line Wherein the braille block voice guidance apparatus comprises: 5. The method of claim 4,
Wherein the voice guiding means is configured to form a number of particles corresponding to a predetermined number of particles when the particle filter is applied to the upper side image and the lower side image. The method according to claim 1,
The audio guidance means sets a plurality of sub-blocks having a certain area around the braille block line region, converts the RGB color of each sub-block into Cyan Magenta Yellow (CMY) color, and outputs the calculated "Y & And determines that the braille block area is a braille block area if the number of subblocks larger than the reference value is greater than a predetermined number. The method according to claim 6,
The audio guidance means selects any number of sub-blocks among the plurality of sub-blocks when the calculated "Y" value is less than a predetermined number, and applies a directional filter bank to the selected sub- To determine whether or not the area is the braille block area. The method according to claim 1,
Wherein the voice guidance unit divides the area determined as a braille block area into first through eighth subbands corresponding to eight different directions through a directional filter bank process,
The first through eighth subbands are

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Wherein the voice guidance unit judges that the braille block is a linear braille block if the values of the second and third subbands are equal to or greater than a predetermined edge reference value. The method according to claim 1,
Wherein the voice guidance unit divides the area determined as a braille block area into first through eighth subbands corresponding to eight different directions through a directional filter bank process,
The first through eighth subbands are

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Wherein the voice guidance unit determines the corresponding braille block to be a pointed braille block when the values of the sixth and seventh subbands are equal to or greater than a predetermined edge reference value. 10. The method of claim 9,
Wherein the voice guidance unit determines that the braille block is a pointed block if the values of the sixth and seventh subbands are equal to or greater than the edge reference value and the values of the second and third subbands are equal to or greater than the edge reference value. Block voice prompting device. The method according to claim 1,
Wherein the photographing means and the voice guidance means are integrally formed. The method according to claim 1,
Wherein the photographing means and the voice guidance means are composed of separate modules and are coupled through wireless or wired lines. The method according to claim 1,
Wherein the photographing means comprises a camera,
Wherein the camera is mounted on a wearer's body. 14. The method of claim 13,
Wherein the camera is mounted on a user's hat or glasses. The method according to claim 1,
Wherein the voice guidance unit comprises a voice output unit for voice output of the braille block guidance message,
Wherein the voice output unit comprises a wireless or wired earphone. A method for recognizing a braille block in an image including a floor surface,
The captured image is divided into an invalid image on the upper side and an effective image on the lower side based on the horizontal center line and a particle filter is applied based on the particle generation reference value corresponding to the braille block color with respect to the effective image, A first step of determining a braille block line as a braille block area by generating a braille block line according to the first step,
A method of generating a plurality of subbands according to a direction by applying a directional filter bank to a region determined to be a braille block region in the first step and determining a type of the corresponding braille block based on a subband having a predetermined edge reference value or more, The method of claim 1, further comprising the steps of: 17. The method of claim 16,
In the first step, the particle filter is applied on the basis of the braille block unique color value set in the braille block area at the initial stage, and the color value determined as the previous braille block area is updated to the particle creation reference value in a predetermined cycle unit, Wherein the image is applied to a filter. delete 17. The method of claim 16,
The first step divides the image into an upper image and a lower image based on a horizontal center line of an effective image, forms a particle on a braille block of the image by applying a particle filter to the upper image and the lower image, And a braille block line is generated by connecting the upper center point calculated for the upper side image and the lower center point calculated for the lower side image by calculating the center point based on the average value of the braille block line . 17. The method of claim 16,
In the first step, a plurality of sub-blocks having a certain area centered on the braille block line region are set, and the RGB colors of the respective sub-blocks are converted into CMY (Cyan Magenta Yellow) And when the number of subblocks larger than the reference value is greater than or equal to a predetermined number, it is determined to be a braille block area. 17. The method of claim 16,
If a number of subblocks having a value of "Y" calculated in the first step is less than a predetermined number, a certain number of subblocks are selected from among the plurality of subblocks, and a directional filter bank is applied to the selected subblock areas, And determining whether or not the area is the braille block area by analyzing the braille block area. 17. The method of claim 16,
The second step divides the region determined as the braille block region into the first through eighth subbands corresponding to the eight different directions using the directional filter bank processing in the first step,
The first through eighth subbands are

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If the values of the second and third subbands are greater than or equal to a predetermined edge reference value, recognizing the braille block as a linear block of braille. 17. The method of claim 16,
The second step divides the region determined as the braille block region into the first through eighth subbands corresponding to the eight different directions using the directional filter bank processing in the first step,
The first through eighth subbands are

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And when the values of the sixth and seventh subbands are greater than or equal to a predetermined edge reference value, recognizing the braille block as a pointed block of braille. 24. The method of claim 23,
Wherein when the values of the sixth and seventh subbands are equal to or greater than an edge reference value and the values of the second and third subbands are equal to or greater than an edge reference value in the second step, the corresponding braille block is recognized as a pointed block of braille Braille Block Recognition Method in Image.

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