Bayesian Recursive Algorithm for Width Estimation of Freespace for a Power Wheelchair using Stereoscopic Cameras

Publication Type:
Conference Proceeding
Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2008, pp. 4234 - 4237
Issue Date:
Full metadata record
Files in This Item:
Filename Description SizeFormat
2008001787.pdf279.54 kBAdobe PDF
This paper is concerned with the estimation of freespace based on a Bayesian recursive (BR) algorithm for an autonomous wheelchair using stereoscopic cameras by severely disabled people. A stereo disparity map processed from both the left and right camera images is constructed to generate a 3D point map through a geometric projection algorithm. This is then converted to a 2D distance map for the purpose of freespace estimation. The width of freespace is estimated using a BR algorithm based on uncertainty information and control data. Given the probabilities of this width computed, a possible movement decision is then made for the mobile wheelchair. Experimental results obtained in an indoor environment show the effectiveness of this estimation algorithm.
Please use this identifier to cite or link to this item: