In this paper, we introduce HEADS-UP, the first egocentric dataset collected from head-mounted cameras, designed specifically for trajectory prediction in blind assistance systems. With the growing population of blind and visually impaired individuals, the need for intelligent assistive tools that provide real-time warnings about potential collisions with dynamic obstacles is becoming critical. These systems rely on algorithms capable of predicting the trajectories of moving objects, such as pedestrians, to issue timely hazard alerts. However, existing datasets fail to capture the necessary information from the perspective of a blind individual. To address this gap, HEADS-UP offers a novel dataset focused on trajectory prediction in this context. Leveraging this dataset, we propose a semi-local trajectory prediction approach to assess collision risks between blind individuals and pedestrians in dynamic environments. Unlike conventional methods that separately predict the trajectories of both the blind individual (ego agent) and pedestrians, our approach operates within a semi-local coordinate system, a rotated version of the camera's coordinate system, facilitating the prediction process. We validate our method on the HEADS-UP dataset and implement the proposed solution in ROS, performing real-time tests on an NVIDIA Jetson GPU through a user study. Results from both dataset evaluations and live tests demonstrate the robustness and efficiency of our approach.

本研究解决了现有数据集无法从盲人视角捕捉动态障碍物轨迹预测的信息这一问题。我们提出了HEADS-UP数据集，并开发了一种半局部轨迹预测方法，以评估盲人与行人之间的碰撞风险。验证结果显示该方法在实际应用中具有良好的鲁棒性和高效性。

HEADS-UP：用于盲人辅助系统的头戴式自我中心数据集以实现轨迹预测