Accès aux Téléchargement | Résumé | Contact | Référence BibTex | Référence EndNote |

Karakkat16a

V. Karakkat-Narayanan, F. Pasteau, M. Marchal, A. Krupa, M. Babel. Vision-based adaptive assistance and haptic guidance for safe wheelchair corridor following. Computer Vision and Image Understanding, CVIU, SI on Assistive Robotics and CV, pages 171-185, Août 2016.

Télécharger l'article [Aide]

Charger l'article : Doi page

Charger l'article sur Hal: Hal : Hyper Archive en ligne

Charger l'article : Adobe portable document (pdf) pdf

Copyright :

Les documents contenus dans ces répertoires sont rendus disponibles par les auteurs qui y ont contribué en vue d'assurer la diffusion à temps de travaux savants et techniques sur une base non-commerciale. Les droits de copie et autres droits sont gardés par les auteurs et par les détenteurs du copyright, en dépit du fait qu'ils présentent ici leurs travaux sous forme électronique. Les personnes copiant ces informations doivent adhérer aux termes et contraintes couverts par le copyright de chaque auteur. Ces travaux ne peuvent pas être rendus disponibles ailleurs sans la permission explicite du détenteur du copyright.

Cette page est générée automatiquement par bib2html v217, © Inria 2002-2021, Projet Lagadic/Rainbow

Résumé

In case of motor impairments, steering a wheelchair can become a hazardous task. Joystick jerks induced by uncontrolled motions may lead to wall collisions when a user steers a wheelchair along a corridor. This work introduces a low-cost assistive and guidance system for indoor corridor navigation in a wheelchair, which uses purely visual info�rmation, and which is capable of providing automatic trajectory correction and haptic guidance in order to avoid wall collisions. A visual servoing approach to autonomous corridor following serves as the backbone to this system. The algorithm employs natural image features which can be robustly extracte�d in real time. This algorithm is then fused with manual joystick input from the user so that progressive assistance and trajectory correction can be activated as soon as the user is in danger of collision. A force feedback in conjunction with the assistance is provided on the joystick in order to guide the user out of his dangerous trajectory. This ensures intuitive guidance and minimal interference from the trajectory correction system. In addition to being a low-cost approach, it can be seen that the proposed solution does not require an a-priori environment model. Experiments on a robotised wheelchair equipped with a monocular camera prove the capability of the system to adaptively guide and assist a user navigating in a corridor

Contact

Francois Pasteau
Maud Marchal
Alexandre Krupa
Marie Babel

Référence BibTex

@article{Karakkat16a,
   Author = {Karakkat-Narayanan, V. and Pasteau, F. and Marchal, M. and Krupa, A. and Babel, M.},
   Title = {Vision-based adaptive assistance and haptic guidance for safe wheelchair corridor following},
   Journal = {Computer Vision and Image Understanding, CVIU, SI on Assistive Robotics and CV},
   Pages = {171--185},
   Month = {August},
   Year = {2016}
}

Référence EndNote [help]

Charger la référence EndNote (.ref)