Semi-autonomous wheelchair developed using a unique camera system configuration biologically inspired by equine vision

Nguyen, JS; Tran, Y; Su, SW; Nguyen, HT

Semi-autonomous wheelchair developed using a unique camera system configuration biologically inspired by equine vision

Nguyen, JS Tran, Y

Su, SW

Nguyen, HT

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 2011, pp. 5762 - 5765
Issue Date:: 2011-12-26

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Field	Value	Language
dc.contributor.author	Nguyen, JS	en_US
dc.contributor.author	Tran, Y https://orcid.org/0000-0002-1741-4205	en_US
dc.contributor.author	Su, SW https://orcid.org/0000-0002-5720-8852	en_US
dc.contributor.author	Nguyen, HT https://orcid.org/0000-0003-3373-8178	en_US
dc.date.issued	2011-12-26	en_US
dc.identifier.citation	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 2011, pp. 5762 - 5765	en_US
dc.identifier.isbn	9781424441211	en_US
dc.identifier.issn	1557-170X	en_US
dc.identifier.uri	http://hdl.handle.net/10453/19258
dc.description.abstract	This paper is concerned with the design and development of a semi-autonomous wheelchair system using cameras in a system configuration modeled on the vision system of a horse. This new camera configuration utilizes stereoscopic vision for 3-Dimensional (3D) depth perception and mapping ahead of the wheelchair, combined with a spherical camera system for 360-degrees of monocular vision. This unique combination allows for static components of an unknown environment to be mapped and any surrounding dynamic obstacles to be detected, during real-time autonomous navigation, minimizing blind-spots and preventing accidental collisions with people or obstacles. This novel vision system combined with shared control strategies provides intelligent assistive guidance during wheelchair navigation and can accompany any hands-free wheelchair control technology. Leading up to experimental trials with patients at the Royal Rehabilitation Centre (RRC) in Ryde, results have displayed the effectiveness of this system to assist the user in navigating safely within the RRC whilst avoiding potential collisions. © 2011 IEEE.	en_US
dc.relation.ispartof	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS	en_US
dc.relation.isbasedon	10.1109/IEMBS.2011.6091426	en_US
dc.subject.mesh	Animals	en_US
dc.subject.mesh	Horses	en_US
dc.subject.mesh	Image Interpretation, Computer-Assisted	en_US
dc.subject.mesh	Imaging, Three-Dimensional	en_US
dc.subject.mesh	Equipment Design	en_US
dc.subject.mesh	Equipment Failure Analysis	en_US
dc.subject.mesh	Wheelchairs	en_US
dc.subject.mesh	Visual Perception	en_US
dc.subject.mesh	Robotics	en_US
dc.subject.mesh	Biomimetic Materials	en_US
dc.subject.mesh	Artificial Intelligence	en_US
dc.subject.mesh	Computer-Aided Design	en_US
dc.title	Semi-autonomous wheelchair developed using a unique camera system configuration biologically inspired by equine vision	en_US
dc.type	Conference Proceeding
utslib.for	0903 Biomedical Engineering	en_US
dc.location.activity	Boston, Massachusetts, USA	en_US
dc.location.activity	Taipei, TAIWAN
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 Biomedical Engineering
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 cameras in a system configuration modeled on the vision system of a horse. This new camera configuration utilizes stereoscopic vision for 3-Dimensional (3D) depth perception and mapping ahead of the wheelchair, combined with a spherical camera system for 360-degrees of monocular vision. This unique combination allows for static components of an unknown environment to be mapped and any surrounding dynamic obstacles to be detected, during real-time autonomous navigation, minimizing blind-spots and preventing accidental collisions with people or obstacles. This novel vision system combined with shared control strategies provides intelligent assistive guidance during wheelchair navigation and can accompany any hands-free wheelchair control technology. Leading up to experimental trials with patients at the Royal Rehabilitation Centre (RRC) in Ryde, results have displayed the effectiveness of this system to assist the user in navigating safely within the RRC whilst avoiding potential collisions. © 2011 IEEE.

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http://hdl.handle.net/10453/19258