Development of Vision-Based Navigation for a Robotic Wheelchair

Abstract

Our environment is replete with visual cues intended to guide human navigation. For example, there are building directories at entrances and room numbers next to doors. By developing a robot wheelchair system that can interpret these cues, we will create a more robust and more usable system. This paper describes the design and development of our robot wheelchair system, called Wheeley, and its visionbased navigation system. The robot wheelchair system uses stereo vision to build maps of the environment through which it travels; this map can then be annotated with information gleaned from signs. We also describe the planned integration of an assistive robot arm to help with pushing elevator buttons and opening door handles.

Evaluation of a Contact Sensor Skirt for an Anti-Collision Power Wheelchair for Older Adult Nursing Home Residents With Dementia: Safety and Mobility

“…It was not possible to extend this concept to detect objects at all heights above the floor. The inclusion of proximity sensors using computer vision technology such as that currently being applied to some modified power wheelchairs (Bailey et al, 2007;Satoh & Sakaue, 2007;Simpson, 2005;Viswanathan, Boger, Hoey, & Mihailidis, 2008) may improve coverage and overcome some of the issues with previously discussed proximity sensors. A future version of the anti-collision power wheelchair will likely combine an even more reliable sensor skirt with computer vision technology.…”

Semantic Mapping for Smart Wheelchairs Using RGB-D Camera

“…Stereo vision-based SLAM was used for the smart wheelchair navigation. 15 However, only spatial information except semantic information was contained in the maps. The 3D model was segmented into distinct potentially traversable ground regions and fitted planes to the regions.…”

Real time tracking system by vision simplifying the interaction between human and robot for remote control of mobile robot

“…The soldier points out a landmark (natural as a tree, or a grove of trees, artificial as : a bell tower, or a water tower) on which the robot must go, or a vehicle that must be followed at constant distance, -The field of security : rondier robot, robot for fire fighting [4], robot rescue [2], [8] ... same needs as the previous field, -the field of disability : the robot is an electric wheelchair [9], [10] (for largest disability). The disability is limited to the mobility.…”