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Real-time performance of a hands-free semi-autonomous wheelchair system using a combination of stereoscopic and spherical vision | IEEE Conference Publication | IEEE Xplore
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Real-time performance of a hands-free semi-autonomous wheelchair system using a combination of stereoscopic and spherical vision

Publisher: IEEE

Abstract:

This paper is concerned with the operational performance of a semi-autonomous wheelchair system named TIM (Thought-controlled Intelligent Machine), which uses cameras in ...View more

Abstract:

This paper is concerned with the operational performance of a semi-autonomous wheelchair system named TIM (Thought-controlled Intelligent Machine), which uses cameras in a system configuration modeled on the vision system of a horse. This new camera configuration utilizes stereoscopic vision for 3-Dimensional (3D) depth perception and mapping ahead of the wheelchair, combined with a spherical camera system for 360-degrees of monocular vision. The unique combination allows for static components of an unknown environment to be mapped and any surrounding dynamic obstacles to be detected, during real-time autonomous navigation, minimizing blind-spots and preventing accidental collisions with people or obstacles. Combining this vision system with a shared control strategy provides intelligent assistive guidance during wheelchair navigation, and can accompany any hands-free wheelchair control technology for people with severe physical disability. Testing of this system in crowded dynamic environments has displayed the feasibility and real-time performance of this system when assisting hands-free control technologies, in this case being a proof-of-concept brain-computer interface (BCI).
Date of Conference: 28 August 2012 - 01 September 2012
Date Added to IEEE Xplore: 10 November 2012
ISBN Information:

ISSN Information:

PubMed ID: 23366573
Publisher: IEEE
Conference Location: San Diego, CA, USA

References

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