# Distance Assessment by Object Detection--For Visually Impaired Assistive Mechatronic System
## 2 State of the Art
The stability of the activities of these systems is based on the detection and recognition of objects. The hardware binocular structure developed in [23] merges information from a high-resolution color camera and a low-resolution depth camera. In [24], [PERSON] et al. show an algorithm for tracking 3D objects, manually selected, using the patch model, with depth as the main parameter in a new, robust method based on [PERSON]'s theory with two probabilistic components and on the recovery of occlusions. As a result of the experiments performed with the mobile binocular camera stereo perception subsystem, the increased efficiency for deformable targets was obtained in relation to similar requests made recently. It is worth noting the idea of using such a model for deformable targets for the first time. Less research has been conducted in the field of assistive systems for people with disabilities, but given the medical importance of the field, these should not be neglected. A system designed for blind individuals has shown that during the use of the BrainPort sensor, by the electrotactile presentation of the visual image, strong activity appears in the areas of the primary visual cortex--areas that, before its use, were not active. As an application of this sensor, it can be noted that it can be adapted as part of a pacifier for blind babies or it can be used together with a camera located on a pair of glasses to detect the shape of objects [25]. The circuit provides a specialized brain-computer interface (BCI) software interface. The information is captured by the camera and transmitted to the touch device. A tactile vision substitution system (TVSS) translates the visual input, usually from a video camera, to the output of a tactile stimulation matrix. With the help of digital image processing techniques, the most significant features of the image can be extracted and then offered as a sensation to visually impaired people [26]. A system for the visually impaired, called OrCam MyEye, can help these people read black and white information. In order for this device to be able to read, the point at which the user begins to read must be indicated, and this presupposes that the person perceives the light and distinguishes some signs. Another drawback is that it cannot appreciate the distance between the object and the interlocutor [27]. In [28], the authors partially designed and simulated an innovative concept of a dedicated integrated system (DIS) using software adapted to the needs of computer work (Smart Individual Security and Assistance Application--SI-SAA) and through an intelligent mobile mechatronic system for the safe movement of visually impaired students in enclosed spaces, such as classrooms. The failure to identify obstacles in the workplace in a timely manner puts their health at risk, and in some cases, endangers the lives of people with visual impairments. The advantages offered by this solution refer to the computer-learning activity through the interface with voice support in Romanian, the realization of the topographic plans of the classroom, the identification of obstacles, and the provision of essential information for their movements. An obstacle avoidance system with the help of a video camera that allows the evaluation of distances has been developed by [PERSON] [29]. The proposed system has shown promising results, as it detects obstacles in any direction from the assisted subject. Portable systems for assisting people with disabilities have even been developed based on images obtained from a simple mobile phone. [PERSON] and [PERSON] [30] developed such a system that has given very promising results, with the only disadvantage being the limitation of the recognized categories of objects, but adapted for machine learning (ML) methods, the system can be further developed.