Determining navigability of terrain using point cloud data

Abstract

This paper presents an algorithm to identify features of the navigation surface in front of a wheeled robot. Recent advances in mobile robotics have brought about the development of smart wheelchairs to assist disabled people, allowing them to be more independent. These robots have a human occupant and operate in real environments where they must be able to detect hazards like holes, stairs, or obstacles. Furthermore, to ensure safe navigation, wheelchairs often need to locate and navigate on ramps. The algorithm is implemented on data from a Kinect and can effectively identify these features, increasing occupant safety and allowing for a smoother ride.

A prospectively collected observational study of pelvic floor muscle strength and erectile function using a novel personalized extracorporeal perineometer

“…1 ). The technique in the device applies the same principle as was previously reported for the management of female stress urinary incontinence 11 . We measured the perineal muscle tone in patients who visited outpatient clinic for complaints other than voiding and/or erectile dysfunction.…”

“…The sensor was placed near the perineal body. The principle used for measurement was the same as reported in previous report 11 . Details including the patient’s height and weight were entered into the software using a smart phone-based application.…”

A Comprehensive Review of Smart Wheelchairs: Past, Present, and Future

“…Sci. W. Switzerland [49] Fribourg, Switzerland 2012 University of Sydney [50] Sydney, Australia 2012 Case Western Reserve [51] Ohio, USA 2013 Hefestos [52] Sao Leopoldo, Brazil 2013 Indian Institute of Technology [53] Jodhpur, India 2013 Institute of Engg. & Technology [54] Ghaziabad, India 2013 ATRII [55] Kansai, Japan 2013 Chonnam National University [56] Gwangju, S. Korea 2013 King Abdulaziz University [57] Jeddah, Saudi Arabia 2013 U. of Alabama, Huntsville [58] Alabama, USA 2013 U. of Texas, Arlington [59] Texas, USA 2013 B.M.S College of Engineering [60] Bangalore, India 2014 Kumamoto University [61] Kumamoto, Japan 2014 Saitama University [62] Saitama, Japan 2014 LURCH [63] Chennai, India 2014 Integral Rehabilitation Center [64] Orizaba, Mexico 2014 University of Kent [65] Canterbury UK 2014 University of Lorraine [8] Metz, France 2014 Uni.…”

“…Fig. 4 shows an example of obstacle detection using Microsoft's Kinect [51]. An RGB image of a floor with an obstacle and a few bumps is shown side-by-side with a point cloud map of the same floor.…”

“…Examples of sensors used in SW applications: (a) odometer, (b) inertial measurement unit (IMU)[109], (c) inside Microsoft Kinect[51], and (d) Hokuyo URG-04LX-UG01 IR laser rangefinder.…”