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https://doi.org/10.1007/s10586-017-1323-4
Intelligent face recognition and navigation system using neural
learning for smart security in Internet of Things
Priyan Malarvizhi Kumar1 · Ushadevi Gandhi1 · R. Varatharajan2 ·
Gunasekaran Manogaran1 · Jidhesh R.1 · Thanjai Vadivel3
Received: 4 July 2017 / Revised: 15 September 2017 / Accepted: 1 November 2017
© Springer Science+Business Media, LLC, part of Springer Nature 2017
Abstract Most of the advancements are now carried out
by interconnecting physical devices with computers; this is
what known as Internet of Things (IoT). The major prob-
lems facing by blind people fall in the category of navigating
through indoor and outdoor environments consisting of var-
ious obstacles and recognition of person in front of them.
Identification of objects or person only with perceptive and
audio information is difficult. An intelligent, portable, less
expensive, self-contained navigation and face recognition
system is highly demanded for blind people. This helps blind
people to navigate with the help of a Smartphone, global posi-
tioning system (GPS) and a system equipped with ultrasonic
sensors. Face recognition can be done using neural learning
techniques with feature extraction and training modules. The
images of friends, relatives are stored in the database of user
Smartphone. Whenever a person comes in front of the blind
user, the application with the help of neural network gives
the voice aid to the user. Thus this system can replace the
regular imprecise use of guide dogs as well as white sticks
to help the navigation and face recognition process for peo-
ple with impaired vision.In this paper, we have proposed a
novel image recognition and navigation system which pro-
vides precise and quick messages in the form of audio to
visually challenged people so that they can navigate easily.
The performance of the proposed method is comparatively
analyzed with the help of ROC analysis.
B R. Varatharajan
varathu21@yahoo.com
1
VIT University, Vellore, India
2 Sri Ramanujar Engineering College, Chennai, India
3 VelTech University, Chennai, India
Keywords Global positioning system · Internet of Things ·
Face recognition · Feature extraction · Training module ·
Navigation · Neural learning · Neural network · Smartphone ·
Ultrasonic sensor
1 Introduction
According to surveys, right now India holds the record of
world’s greatest number of visually impaired individuals [1].
Hence, India visual deficiency is the most concerning issue.
Because of the gigantic population in India, there is a consid-
erable measure of movement in the street and in these days
nobody has time for converse among others, particularly in
cities. Due to this huge traffic, the blind people face so many
troubles while roaming without any external help. So, assis-
tance of white canes and additionally controlled guides are
required for the blind ones for obstacle evasion. But guide
dogs can likewise be of restricted help for finding the route
to a remote area. So an intelligent, portable, less expensive,
self-contained navigation system is required.A few electronic
gadgets are as of now accessible for giving direction to a
remote area, however these have a tendency to be costly,
or make utilization of a Braille interface. The diminishing
expense of GPS, combined with the latest development in
accessibility of audio acknowledgment services, introduces
a chance to make a less expensive application for hindrance
identification. The major need of this framework is to satisfy
the user’s route needs while guaranteeing ease and trans-
portability with a Smartphone.
The other issue for blind people is that they get just
perspective and audio information. They cannot distinguish
people from these two senses. Hence, there is a need of a third
sense in the form of an application which recognizes people
in front of them. The progressions in the Machine Learning
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innovation and Artificial Intelligence [2] can make an appli-
cation which can even supplant the human eye.Nowadays,
Neural Network provides solutions for so many human
related problems. A neural system learning calculation is
among the best ways to deal with machine learning par-
ticularly with images [3]. Nowadays, big data algorithms,
IoT technologies and machine learning methods are used
in various healthcare applications [4–12]. Sections 2 and 3
describe the related works and the proposed system. Section 4
presents the results and discussion. Finally, Sect. 5 concludes
the work.
2 Related work
2.1 Obstacle detection systems
The intelligent navigation, detection and avoidance of objects
are found to be precise and efficient. Several systems which
are used by blind people for obstacle avoidance are made up
of combined hardware and software devices such as RFID
tags, GPS, Sonar technologies etc.
2.1.1 White cane and guide dogs
White Cane/Stick is the most mainstream [13,14], least com-
plex instrument for identifying obstructions because of its
low cost and portability features. It empowers blinds to
adequately filter the zone in front of them and distinguish
deterrents like openings, steps, dividers, unequal surfaces,
and so forth. Be that as it may, it must be utilized to distinguish
obstacles up to knee-level. Its location range is constrained up
to one to two feet as it were. Certain impediments (e.g. pro-
jecting window sheets, raised stages, a motion vehicle, and
level bars) can’t be identified since they are dangerously near
the individual. Indeed, even Guide Dogs are exceptionally
skilled to control these people however they can’t recognize
conceivably impediments at head level. Guide dogs benefit
stage is by and large 6 years and needs normal dog up-keeping
use and way of life changes. The advantages of the system
are low cost and portability whereas the disadvantages of the
system are it just recognizes obstructions at knee level and
certain hindrances cannot be recognized effectively.
2.1.2 Indoor navigation framework with sonar technology
Roshni et al. decides the client’s position in the building
[15], route by means of sound messages by pressing keys
on the versatile unit. It utilizes sonar innovation to recognize
the position of client by connecting ultrasonic units on roof
at standard interims. This framework is compact, simple to
work and is not influenced by natural changes. Be that as it
may, this framework is restricted just for indoor route since
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it needs definite guide of the building. The advantages of the
system are portable and simple to operate whereas the dis-
advantage of the system is applicable only for indoor route.
2.1.3 A talking location finding system with RFID and GPS
Nandhini et al. proposed a talking help sort area location
framework [16] for both indoor and open air environment.
Framework comprises of strolling stick along with GSM
to transfer message to approved individual at the period of
catastrophe, sonar sensors and RF sender and collector. For
indoor confinement RFID [17] and for outside restriction
GPS framework is utilized [18]. In this way, this GPS frame-
work utilized as a part of strolling stick decreases the cost of
introducing numerous RFID labels in open air to distinguish
the place [19–21]. The advantages of the system are used
in both outdoor and indoor roaming, simple to operate and
decreases usage and cost of RFID tags for outdoor environ-
ments. The disadvantage of this system isusage of costlier
RFID for indoor environments [22–24].
2.1.4 Audio assistance for blind using visual markers for
indoor route
Simoes et al. proposed an indoor route wearable frame-
work [25] in light of visual markers acknowledgment and
ultrasonic deterrents perception utilized as a sound help for
visually impaired individuals. In this model, visual markers
distinguish the points in the environment; furthermore this
area status is enhanced with data got progressively by dif-
ferent sensors. A guide records these points and shows the
separation and bearing between nearer points, building a vir-
tual way. The visually impaired clients wear likewise glasses
worked with sensors like ultrasonic, gyroscope, RGB cam-
era, and accelerometer, thus improving the sum and quality
of the accessible data [26]. The client explores uninhibitedly
in the environment by identifying the area markers. In light
of the beginning point data or the location point data and on
the value of gyro sensor, the way to next marker (target) is
figured. A few ultrasonic sensors are used to raise the view
of environment and also to avoid obstacles.The advantage
of the system is virtual path is given audio assistance. The
disadvantages of this system are constrained just for indoor
route and extra use of RGB camera.
2.2 Face recognition systems
Identifying a person or object in front is highly demanded
thing for blind people. Although there are certain applications
which satisfy this need, an application which is user friendly
with precise result is required [27–29].
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2.2.1 Productive face recognition strategy using genetic
algorithm and RBF Kernel
Verma et al. [30] proposed a face acknowledgment frame-
work which handles higher sum and measurement of picture
information. At whatever point we consider this framework
at worldwide level a variety of issues as often as possible
arrives. This system uses Radial Basis Function kernel for
administration of little training sets of high measurement
pictures with hereditary algorithm based on weight advance-
ment strategy. This framework is viable for huge datasets in
this manner it utilizes geneticalgorithm. This genetic algo-
rithm gives quick learning and prepares RBF neural system
adequately, it diminishes effort for searching and essentially
decreases the recognition time. This framework is extremely
viable at open places because public rush and gives quick
and precise acknowledgment. The advantages of the system
are less searching effort and reduced recognition time. The
disadvantage of this system is complex RBF based function.
2.2.2 Highly authenticate navigation for blinds using SIFT
algorithm
Kumar et al. [31] depicts the utilization of SIFT algorithm
with the end goal of offering backing to Blind. It is a more
prominent test for the blinds to work alone and to ful-
fill their necessities. The primary things that a blind can
need are to distinguish an Object and Face Recognition.
This system fulfills the Blind’s needs by utilizing the SIFT
algorithm [32]. SIFT algorithm depends on the image and
object recoverytechnique. Utilizing image preparing Tools
as a part of MATLAB to execute the SIFT calculation to
the pictures. It enhances the personal satisfaction for the
blinds reestablishing their capacity to self-explore. Proce-
duresforSIFT algorithm incorporates, building a scale space,
pooch estimate, discovering key points, dispose of terrible
key points, relegating an introduction to the key points and
create filter highlights. Also enhance the portability without
an outer help utilizing self-route and individual identification.
The advantage of the system is gives a highly authenticate
data to the blind people. The disadvantages of this system
are complex algorithm and use of VGA.
3 Proposed methodology
This section describes about how the obstacles are detected
using ultra sonic sensors and how the application find the
person in front of the using neural learning. The main aim
is to propose a cheap, user friendly application which pro-
vides precise and quick messages in the form of audio to
visually challenged people so that they can navigate easily.
System architecture for the system is depicted in Fig. 1. The
application of the proposed architecture consists of two main
modules:Intelligent Navigation Module and Face Recogni-
tion Module.
3.1 Intelligent navigation module
Blind guide is an innovation in route frameworks for visu-
ally disabled individuals. This product is implemented on an
android based advanced mobile phone combined with ultra-
sonic sensors. The ultrasonic sensors are included remotely
utilizing microcontroller based equipment and speak with
Smartphone using Bluetooth. Blind guide gives the data and
direction to move starting with one place then onto the next
securely utilizing android based advanced mobile phone.
Text to speech (TTS) [33,34] is utilized as a part of route
framework to give route through voice to visually impaired
individuals. Intelligent Navigation System is subdivided in to
two modules: Smartphone Module and Ultrasonic Accessory
module [35–37].
Additionally, it utilizes Google map API to provide map
information. Android Smartphone comprises of following
sensors: accelerometers, touch screen, global positioning
system (gps), compass and cameras. Here the visually
impaired client speaks the destination, then the application
help the user to walk to the closest transport stop or junction.
With the end goal of discovering current position of the client
and closest intersection, the application utilizes GPS and GIS
[38]. For navigation, the application utilizes the compass in
the Smartphone and ultrasonic sensors. The blind can walk
freely to the destination using voice commands provided by
the smart phone.
3.1.1 Smartphone module
The Smartphone consists of the application installed on
android system. This plug-and-play method for blind users
has the ability to improve user mobility and also object dis-
covery as well as avoidance. The application ought to utilize
the accompanying assets of the smart phone equipment: GPS
sensor, compass, microphone, speaker or head phone, Blue-
tooth, touch screen and other interfaces.
3.1.2 Ultrasonic accessory module
Ultrasonic sensors provide ultrasonic waves into air and rec-
ognize reflected waves from objects. These ultrasonic sensors
are associated with the Arduino microcontroller, and the
microcontroller associated with Bluetooth module [39]. The
data from the ultrasonic sensors are prepared and change
over to speech information (TTS) in the microcontroller [40].
Also, this speech information is transmitted to smart phone
application by means of Bluetooth.This application is imple-
mented using Android Studio and Arduino SDK. Figure 2
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Fig. 1 System architecture of the proposed system
represents the sequence diagram for intelligent navigation
system. Algorithms used for intelligent navigation module is
described below:
Algorithm 1: Ultrasonic Obstacle Detection
Step1: Find ultrasonic sensor duration between trigger
and echo
Step 2: Find distance using relation between speed of
sound and duration between trigger and echo
Step 3: Detect the obstacle if the distance is less than
threshold distance.
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Algorithm 2: Ultrasonic Obstacle Avoidance
Step1: Find both distance dynamically
Step 2: If LEFT ultrasonic sensor detected the obstacle
and RIGHT ultrasonic sensor not detected then
speak “TURN RIGHT SIDE” via Bluetooth
Step 3: If RIGHT ultrasonic sensor detected the obsta-
cle and LEFT ultrasonic sensor not detected
then speak “TURN LEFT SIDE” via Bluetooth
Algorithm 3: Direction using compass and bearing
Step1: Find the angle between north and “source to
destination” using android code and convert it
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Fig. 2 Sequence diagram of intelligent navigation system

to degrees between 0 and 360 and call this angle

as BEAR
Step 2: Find the angle between north and “device head-
ing” using android compass and convert it to
degree between 0and 360 and call this angle as
HEADING.
Step 3: If HEADING less than BEAR then the destina-
tion on device’s right direction.
Step 4: If HEADING greater than BEAR then the des- Fig. 3 Person’s face as input to the system
tination on device’s left direction.

3.2 Face recognition module
Blind perceptron is face recognition android software which
works with the help of an android based phone. The applica-
tion utilize Artificial Neural system [41] keeping in mind the
end goal to recognize the image of a person based on the past
understanding of the Learning Mechanism [42]. The appli-
cation is intended to furnish dynamic communication with
camera on the phone to distinguish the face of the individ-
ual and by extracting the features of the face [43] and store
the information to the database. This database is utilized for
making training set for each of the individual which can be
in turn utilized for the training reason.The input of the sys-
tem is the person’s face that is in front of the blind. This face
is analyzed by trained neural system. Figure 3 represents an
individual face as Input to the System. Figure 4 Represents
the Sequence Diagram of Face Recognition System.
Functionalities of Face recognition system is as follows:
• It can help a blind person to identify persons in-front of
them using Smartphone camera

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Fig. 4 Sequence diagram of face recognition system
• It provides voice enabled interface to the blind person
with voice synthesizer and voice recognition system
• It detect the face of the person from the image captured
• It extract the facial features (example: distance between
the center of two eyes) from the face using the Open CV
Library
• During training process a training set is created dynami-
cally for each person
• In the Recognition Activity based on the trained images
it recognize the person
• If the image is recognized, proper instructions are given
through voice commands
Face Recognition System is subdivided in to three mod-
ules:
3.2.1 Feature extraction module
Person’s face is captured from the real time environment
(Fig. 5). Then, features of that face are extracted by measuring
the facial component values by using Open CV Library [44].
In image-processing stage, to calculate the distance
between two facial points of interest, Euclidean distance
equation is used. In arithmetic, the Euclidean separation is
the straight-line separation between two focuses in Euclidean
space. In the Euclidean space, if p = (p1, p2) and q = (q1, q2)
then the separation is calculated by Eq. (1) [45].

d ( p, q) = (q1 − p1 )2 + (q2 − p2 )2 (1)
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3.2.2 Training neural network module
The training of neural network is done in an ongoing way.
The training stage comprise of ongoing capturing of pictures
of:
• Different emotional faces of a same person [46]
• And one normal face of the same person
These pictures are then changed over to standardized/nor-
malized values and after that it is nourish into the neural
system.
3.2.3 Comparison and recognition module
The features which are predicted by the trained neural net-
work are contrasted with those features which are stored in
the user’s database. In the event that individual with typical
features exists in the client’s database, then inform the client
about the individual through voice information. Else, inquire
as to whether he needs to add that individual to the database.
4 Results and discussion
The proposed application describes how the navigation and
face recognition system can be helpful to assist blind users.
This section describes the components used in the system,
and provides the results and feedbacks from the users for
the proposed application.The major components used in
the application are Ultrasonic Accessory module, Android
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Fig. 5 a Facial expressions
(Training Phase). b Expected
output (Training Phase)
Smartphone module, Feature Extraction module, Neural
Network training module, and Comparison and Recogni-
tion module.The application also interacts with some other
components of the operating system. It includes Google
TalkBack, Internet Connection, and Camera Feed. Google
TalkBack is a service provided by Google for retriev-
ing audio information to the blinds which helps them to
operate with the application. Proper internet connection
is demanded as there is a need of GPS and other ser-
vices. The person’s face is captured and it is feed in to
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Table 1 Results and Feedback from the users

User No. of faces No. of correctly % of accuracy Is it found helpful Feedback
captured identified faces for the user?

Gopalan N 14 15 93% Yes Liked the sound interface

John Jacob 23 29 80% No Didn’t like to hold
smartphone all the time
Kalyani M 17 20 85% Yes Finds easy to navigate
through indoors
Umesh Kumar 14 15 93% No Finds difficult to use
smartphone device
Rajeev Gupta 6 6 100% Yes Appreciated the face
recognition system
Praveen Kumar 12 15 80% Yes Liked the user interface for
obstacle dectection system
Joseph P 8 9 89% Yes No comments
Radhika L 4 4 100% Yes Appreciated

Table 2 Comparison of proposed application with existing systems

Approach Navigation Face recognition Indoor/outdoor Obstacle detection accuracy Face recognition

White Cane and Guide Yes No Both 50% –

Dogs
Indoor navigation Yes No Indoor 90% –
framework with sonar
technology
A talking location finding Yes No Both 92% –
system with RFID and
GPS
Audio assistance for blind Yes No Indoor 935 –
using visual markers for
indoor route
Productive face recognition No Yes – – 90%
strategy using genetic
algorithm and RBF Kernel
Highly authenticate No Yes – – 85%
navigation for blinds
using SIFT algorithm
Intelligent navigation and Yes Yes Both 95% 90%
face recognition system
using neutral learning for
blind people

feature extraction phase to identify the person.The appli-
cation is analyzed in real time with several people facing
visual impairment and the feedbacks from them are noted in
Table 1.
The application is tested with eight users and the results
are analyzed. From the table it is noted that the application
is showing good accuracy rate of 90%. As some of the users
are not familiar with smartphone they are finding some dif-
ficulties in using the application. Among the users, 75% of
them find the system to be useful. For persons 5 and 8, the
results show that the accuracy rate is high. This is because
the fact that the user is looking directly to the camera without
any deflection in the expressions. For persons 2 and 6, the
accuracy rate is relatively low. It is because of the movement
of face with respect to the camera’s capturing area. The pro-
posed application is compared and analyzed with some of the
existing systems with certain parameters as shown in Table 2.
It is noted that the proposed application provides 95% obsta-
cle detection and 90% face recognition accuracy rates with
the navigation support for both outdoor and indoor envi-
ronments. Thus, the proposed application provides higher
accuracy rate for both obstacle detection and face recog-
nition without compromising the portable, less expensive,
self-contained characteristics of the system. Figs. 6, 7, 8 and

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Fig. 6 ROC curve for genetic algorithm with RBF kernel
Fig. 7 ROC curve for SIFT algorithm
9 represent the ROC curve for various image recognition
methods.
5 Conclusion
This paper proposed a system for blind people to navigate
freely in the environment by avoiding obstacles and also
provide a method to find the person in front of them. The high-
light of the proposed system is that an intelligent, portable,
less expensive, self-contained navigation and face recogni-
tion systemis implemented. The system is applicable for both
outdoor and indoor environments. The analysis of the per-
formance of the implemented system shows that 75% of the
blind personal find this system help full and provided an
accurate result of 90% for face recognition and 95% obsta-
cle detection. However, studies can be extensively made to
detect animals, vehicles and all abiotic and biotic objects
in the environmentswith the advancement in neural learning
techniques. The future of this paper is to use IoT devices for
recognizing the face reactions. The limitation of this paper
is focuses only on static face recognition.
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Fig. 8 ROC curve for proposed neural learning method
Fig. 9 Comparison of ROC analysis
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Priyan Malarvizhi Kumar is
currently pursuing a Ph.D. in
the Vellore Institute of Tech-
nology University. He received
his Bachelor of Engineering and
Master of Engineering degree
from Anna University and Vel-
lore Institute of Technology Uni-
versity, respectively. His cur-
rent research interests include
Big Data Analytics, Internet of
Things, Internet of Everything,
Internet of Vehicles in Health-
care. He is the author/co-author
of papers in international jour-
nals and conferences.
Ushadevi Gandhi is working as
an Associate Professor in the
School of Information Technol-
ogy and Engineering, Vellore
Institute of Technology Univer-
sity. She received her Bachelor of
Engineering and Master of Engi-
neering degree from the Anna
University. Her current research
interests include big data analyt-
ics and wireless networks. She
has published number of interna-
tional journals and conferences.
She is a member of CSI and
IEEE.
R. Varatharajan received his
B.E., M.E. and Ph.D. degrees all
in Electronics and Communica-
tion Engineering from Anna Uni-
versity and Bharath University,
India. His main area of research
activity is Medical Image pro-
cessing, Wireless Networks and
VLSI Physical Design. He has
served as a reviewer for Springer,
Inderscience and Elsevier jour-
nals. He has published many
research articles in refereed jour-
nals. He is a member of IEEE,
IACSIT, IAENG, SCIEI and
ISTE wireless research group. He has been serving as Organizing Chair
and Program Chair of several International conferences and in the Pro-
gram Committees of several International conferences. Currently he is
working as a Associate professor in the Department of Electronics and
Communication Engineering at Sri Ramanujar Engineering College,
Chennai, India.
123
Cluster Comput
Gunasekaran Manogaran is
currently pursuing Ph.D. in the
Vellore Institute of Technology
University. He received his Bach-
elor of Engineering and Master
of Technology from Anna Uni-
versity and Vellore Institute of
Technology University respec-
tively. He has worked as a
Research Assistant for a project
on spatial data mining funded
by Indian Council of Medical
Research, Government of India.
His current research interests
include data mining, big data
analytics and soft computing. He is the author/co-author of papers in
conferences, book chapters and journals. He got an award for young
investigator from India and Southeast Asia by Bill and Melinda Gates
Foundation. He is a member of International Society for Infectious Dis-
eases and Machine Intelligence Research labs.
Jidhesh R. received his Mas-
ter of Engineering degree from
Vellore Institute of Technology
University, Vellore, India. His
current research interests include
Big Data Analytics, Image Pro-
cessing, Internet of Things, Inter-
net of Everything, Internet of
Vehicles in Healthcare. He is
the author/co-author of papers in
international journals and con-
ferences.
Thanjai Vadivel received his
B.E. degree in Computer Sci-
ence and Engineering from Anna
University, Chennai in 2008. He
has been completed his Masters
degree in IT(NETWORKING)
from VIT University, Vellore in
2012. Now he is currently pur-
suing Ph.D. from Veltech Dr.
RR & Dr. SR University, Chen-
nai, India. He is currently work-
ing as Assistant Professor in the
Department of Computer Sci-
ence and Engineering at Veltech
Dr. RR & Dr. SR University,
Chennai, India. His area of interest is network security, IOT, wireless
sensor networks, cloud security and Data Mining.