A portable blind guidance system is designed to assist blind moving normally.Firstly

aiming at the problem of low detection rate and poor adaptability of image-based obstacle detection method under interference such as illumination

multi-target and complex background

an obstacle detection method based on improved VE algorithm is proposed.The relative distance between the user and the obstacle is further calculated by using perspective projection model and the camera internal and external parameter matrix obtained by calibration.Finally

the functional algorithm is integrated into Raspbian-based RaspberryPi to complete the design.The system is simple in structure and ensures the accuracy of obstacle detection and precision of ranging.The experimental results verify the effectiveness and stability of the system.