用单目视频生成精准距离估计，助力盲人导航无人机避障

Autonomous navigation by drones using onboard sensors, combined with deep learning and computer vision algorithms, is impacting a number of domains. We examine the use of drones to autonomously follow and assist Visually Impaired People (VIPs) in navigating urban environments. Estimating the absolute distance between the drone and the VIP, and to nearby objects, is essential to design obstacle avoidance algorithms. Here, we present NeoARCADE (Neo), which uses depth maps over monocular video feeds, common in consumer drones, to estimate absolute distances to the VIP and obstacles. Neo proposes robust calibration technique based on depth score normalization and coefficient estimations to translate relative distances from depth map to absolute ones. It further develops a dynamic recalibration method that can adapt to changing scenarios. We also develop two baseline models, Regression and Geometric, and compare Neo with SOTA depth map approaches and the baselines. We provide detailed evaluations to validate their robustness and generalizability for distance estimation to VIPs and other obstacles in diverse and dynamic conditions, using datasets collected in a campus environment. Neo predicts distances to VIP with an error <30cm, and to different obstacles like cars and bicycles within a maximum error of 60cm, which are better than the baselines. Neo also clearly out-performs SOTA depth map methods, reporting errors up to 5.3-14.6x lower.