This paper presents a novel multimodal perception system for a real open environment. The proposed system includes an embedded computation platform, cameras, ultrasonic sensors, GPS, and IMU devices. Unlike the traditional frameworks, our system integrates multiple sensors with advanced computer vision algorithms to help users walk outside reliably. The system can efficiently complete various tasks, including navigating to specific locations, passing through obstacle regions, and crossing intersections. Specifically, we also use ultrasonic sensors and depth cameras to enhance obstacle avoidance performance. The path planning module is designed to find the locally optimal route based on various feedback and the user's current state. To evaluate the performance of the proposed system, we design several experiments under different scenarios. The results show that the system can help users walk efficiently and independently in complex situations.

翻译：本文提出了一种面向真实开放环境的新型多模态感知系统。该系统包含嵌入式计算平台、摄像头、超声波传感器、GPS及IMU设备。与传统框架不同，本系统通过先进的计算机视觉算法融合多传感器数据，以帮助用户在户外环境中可靠行走。该系统能高效完成多种任务，包括导航至特定位置、穿越障碍区域以及通过交叉路口。特别地，我们还利用超声波传感器与深度相机来增强避障性能。路径规划模块基于多源反馈与用户当前状态，设计用于寻找局部最优路径。为评估所提系统的性能，我们在不同场景下设计了多组实验。结果表明，该系统能帮助用户在复杂环境中实现高效、自主的行走。