Bayesian recursive algorithm for width estimation of freespace for a power wheelchair using stereoscopic cameras.

Nguyen, TH; Nguyen, JS; Nguyen, HT

Bayesian recursive algorithm for width estimation of freespace for a power wheelchair using stereoscopic cameras.

Nguyen, TH Nguyen, JS Nguyen, HT

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Publication Type:: Conference Proceeding
Citation:: Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, 2008, pp. 4234 - 4237
Issue Date:: 2008-12-01

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Field	Value	Language
dc.contributor.author	Nguyen, TH	en_US
dc.contributor.author	Nguyen, JS	en_US
dc.contributor.author	Nguyen, HT https://orcid.org/0000-0003-3373-8178	en_US
dc.date.issued	2008-12-01	en_US
dc.identifier.citation	Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, 2008, pp. 4234 - 4237	en_US
dc.identifier.issn	1557-170X	en_US
dc.identifier.uri	http://hdl.handle.net/10453/11112
dc.description.abstract	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.	en_US
dc.relation	http://purl.org/au-research/grants/arc/DP0666942
dc.relation	http://purl.org/au-research/grants/arc/LE0668541
dc.relation.ispartof	Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference	en_US
dc.subject.mesh	Humans	en_US
dc.subject.mesh	Photography	en_US
dc.subject.mesh	Models, Statistical	en_US
dc.subject.mesh	Bayes Theorem	en_US
dc.subject.mesh	Equipment Design	en_US
dc.subject.mesh	Wheelchairs	en_US
dc.subject.mesh	Avoidance Learning	en_US
dc.subject.mesh	Vision Disparity	en_US
dc.subject.mesh	Algorithms	en_US
dc.subject.mesh	Cybernetics	en_US
dc.subject.mesh	Computer Systems	en_US
dc.subject.mesh	Disabled Persons	en_US
dc.subject.mesh	Vision, Ocular	en_US
dc.title	Bayesian recursive algorithm for width estimation of freespace for a power wheelchair using stereoscopic cameras.	en_US
dc.type	Conference Proceeding
utslib.for	090305 Rehabilitation Engineering	en_US
dc.location.activity	Vancouver, Canada	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Elec, Mech and Mechatronic Systems
pubs.organisational-group	/University of Technology Sydney/Strength - CHT - Health Technologies
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

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:

http://hdl.handle.net/10453/11112