Jump to : Download | Abstract | Contact | BibTex reference | EndNote reference |

Pasteau14a

F. Pasteau, A. Krupa, M. Babel. Vision-based assistance for wheelchair navigation along corridors. In IEEE Int. Conf. on Robotics and Automation, ICRA'14, Pages 4430-4435, Hong Kong, China, June 2014.

Download [help]

Download Hal paper: Hal : Hyper Archive en ligne

Download paper: Adobe portable document (pdf) pdf

Copyright notice:

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2021, Projet Lagadic/Rainbow

Abstract

In case of motor impairments, steering a wheelchair can become a hazardous task. Typically, along corridors, joystick jerks induced by uncontrolled motions are source of wall collisions. This paper describes a vision based assistance solution for safe indoor semi-autonomous navigation purposes. To this aim, the control process is based on a visual servoing process designed for wall avoidance purposes. As the patient manually drives the wheelchair, a virtual guide is defined to progressively activate an automatic trajectory cor- rection. The proposed solution does not require any knowledge of the environment. Experiments have been conducted over corridors that present different configurations and illumination conditions. Results demonstrate the ability of the system to smoothly and adaptively assist people during their motions

Contact

Francois Pasteau
Alexandre Krupa
Marie Babel

BibTex Reference

@InProceedings{Pasteau14a,
   Author = {Pasteau, F. and Krupa, A. and Babel, M.},
   Title = {Vision-based assistance for wheelchair navigation along corridors},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'14},
   Pages = {4430--4435},
   Address = {Hong Kong, China},
   Month = {June},
   Year = {2014}
}

EndNote Reference [help]

Get EndNote Reference (.ref)