Tohme: Detecting Curb Ramps in Google Street View Using Crowdsourcing, Computer Vision, and Machine Learning

Authors

Kotaro Hara, Jin Sun, Robert Moore, David Jacobs, Jon E. Froehlich

Abstract

Building on recent prior work that combines Google Street View (GSV) and crowdsourcing to remotely collect information on physical world accessibility, we present the first “smart” system, Tohme, that combines machine learning, computer vision (CV), and custom crowd interfaces to find curb ramps remotely in GSV scenes. Tohme consists of two workflows, a human labeling pipeline and a CV pipeline with human verification, which are scheduled dynamically based on predicted performance. Using 1,086 GSV scenes (street intersections) from four North American cities and data from 403 crowd workers, we show that Tohme performs similarly in detecting curb ramps compared to a manual labeling approach alone (Fmeasure: 84% vs. 86% baseline) but at a 13% reduction in time cost. Our work contributes the first CV-based curb ramp detection system, a custom machine-learning based workflow controller, a validation of GSV as a viable curb ramp data source, and a detailed examination of why curb ramp detection is a hard problem along with steps forward.

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