Semi-autonomous wheelchair system using stereoscopic cameras

Nguyen, JS; Nguyen, TH; Nguyen, HT

Semi-autonomous wheelchair system using stereoscopic cameras

Nguyen, JS Nguyen, TH Nguyen, HT

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009, 2009, pp. 5068 - 5071
Issue Date:: 2009-01-01

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Field	Value	Language
dc.contributor.author	Nguyen, JS	en_US
dc.contributor.author	Nguyen, TH	en_US
dc.contributor.author	Nguyen, HT https://orcid.org/0000-0003-3373-8178	en_US
dc.date.issued	2009-01-01	en_US
dc.identifier.citation	Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009, 2009, pp. 5068 - 5071	en_US
dc.identifier.isbn	9781424432967	en_US
dc.identifier.uri	http://hdl.handle.net/10453/11153
dc.description.abstract	This paper is concerned with the design and development of a semi-autonomous wheelchair system using stereoscopic cameras to assist hands-free control technologies for severely disabled people. The stereoscopic cameras capture an image from both the left and right cameras, which are then processed with a Sum of Absolute Differences (SAD) correlation algorithm to establish correspondence between image features in the different views of the scene. This is used to produce a stereo disparity image containing information about the depth of objects away from the camera in the image. A geometric projection algorithm is then used to generate a 3-Dimensional (3D) point map, placing pixels of the disparity image in 3D space. This is then converted to a 2-Dimensional (2D) depth map allowing objects in the scene to be viewed and a safe travel path for the wheelchair to be planned and followed based on the user's commands. This assistive technology utilising stereoscopic cameras has the purpose of automated obstacle detection, path planning and following, and collision avoidance during navigation. Experimental results obtained in an indoor environment displayed the effectiveness of this assistive technology. ©2009 IEEE.	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	Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009	en_US
dc.relation.isbasedon	10.1109/IEMBS.2009.5334266	en_US
dc.subject.mesh	Humans	en_US
dc.subject.mesh	Photography	en_US
dc.subject.mesh	Equipment Design	en_US
dc.subject.mesh	Wheelchairs	en_US
dc.subject.mesh	Vision Disparity	en_US
dc.subject.mesh	Algorithms	en_US
dc.subject.mesh	Computer Systems	en_US
dc.subject.mesh	Disabled Persons	en_US
dc.title	Semi-autonomous wheelchair system using stereoscopic cameras	en_US
dc.type	Conference Proceeding
utslib.for	090602 Control Systems, Robotics and Automation	en_US
dc.location.activity	Minneapolis, Minnesota, USA	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 design and development of a semi-autonomous wheelchair system using stereoscopic cameras to assist hands-free control technologies for severely disabled people. The stereoscopic cameras capture an image from both the left and right cameras, which are then processed with a Sum of Absolute Differences (SAD) correlation algorithm to establish correspondence between image features in the different views of the scene. This is used to produce a stereo disparity image containing information about the depth of objects away from the camera in the image. A geometric projection algorithm is then used to generate a 3-Dimensional (3D) point map, placing pixels of the disparity image in 3D space. This is then converted to a 2-Dimensional (2D) depth map allowing objects in the scene to be viewed and a safe travel path for the wheelchair to be planned and followed based on the user's commands. This assistive technology utilising stereoscopic cameras has the purpose of automated obstacle detection, path planning and following, and collision avoidance during navigation. Experimental results obtained in an indoor environment displayed the effectiveness of this assistive technology. ©2009 IEEE.

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http://hdl.handle.net/10453/11153