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Decision Making using Data Fusion for Wheelchair Navigation | IEEE Conference Publication | IEEE Xplore

Decision Making using Data Fusion for Wheelchair Navigation


Abstract:

This paper presents a subsystem of a semi-autonomous wheelchair controlled by eye gaze. The control decision is based on video and laser scanning acquisition. Data fusion...Show More

Abstract:

This paper presents a subsystem of a semi-autonomous wheelchair controlled by eye gaze. The control decision is based on video and laser scanning acquisition. Data fusion between the information provided by the two systems was used. The obtained data are processed, adapted and provided to the Eye Gaze Control system. Various configurations for the proposed system were studied. Experiments conducted using RGB-D images and on points cloud provided by the LIDAR system demonstrated the reliability and the robustness of the proposed method. The next step will involve obstacles detecting, the objects that can block a specific given path. The two systems complement each other eliminating the disadvantages of each system. In case of removing one of them, the obtained system suffers from the lack of redundancy and safety in the event of a fault (essential condition for a semi-autonomous wheelchair).
Date of Conference: 09-11 October 2019
Date Added to IEEE Xplore: 31 October 2019
ISBN Information:
Print on Demand(PoD) ISSN: 2372-1618
Conference Location: Sinaia, Romania

References

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