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


F. Pasteau, V. Karakkat-Narayanan, M. Babel, F. Chaumette. A visual servoing approach for autonomous corridor following and doorway passing in a wheelchair. Robotics and Autonomous Systems, SI on Assistive Robotics, 75, part A:28-40, January 2016.

Download [help]

Download paper: Doi page

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 2002-2024, Projet Lagadic/Rainbow


Navigating within an unknown indoor environment using an electric wheelchair is a challenging task, especially if the user suffers from severe disabilities. In order to reduce fatigability and increase autonomy, control architectures have to be designed that would assist users in wheelchair navigation. We present a framework for vision-based autonomous indoor navigation in an electric wheelchair capable of following corridors, and passing through open doorways using a single doorpost. Visual features extracted from cameras on board the wheelchair are used as inputs for image based controllers built-in the wheelchair. It has to be noted that no a-priori information is utilized except for the assumption that the wheelchair moves in a typical indoor environment while the system is coarsely calibrated. The designed control schemes have been implemented onto a robotized wheelchair and experimental results show the robust behaviour of the designed system


Francois Pasteau
Marie Babel
Francois Chaumette

BibTex Reference

   Author = {Pasteau, F. and Karakkat-Narayanan, V. and Babel, M. and Chaumette, F.},
   Title = {A visual servoing approach for autonomous corridor following and doorway passing in a wheelchair},
   Journal = {Robotics and Autonomous Systems, SI on Assistive Robotics},
   Volume = {75, part A},
   Pages = {28--40},
   Month = {January},
   Year = {2016}

EndNote Reference [help]

Get EndNote Reference (.ref)