Experimental study on a smart wheelchair system using a combination of stereoscopic and spherical vision

Nguyen, JS; Su, SW; Nguyen, HT

Experimental study on a smart wheelchair system using a combination of stereoscopic and spherical vision

Nguyen, JS 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, 2013, pp. 4597 - 4600
Issue Date:: 2013-01-01

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Field	Value	Language
dc.contributor.author	Nguyen, JS	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	2013-01-01	en_US
dc.identifier.citation	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 2013, pp. 4597 - 4600	en_US
dc.identifier.isbn	9781457702167	en_US
dc.identifier.issn	1557-170X	en_US
dc.identifier.uri	http://hdl.handle.net/10453/23992
dc.description.abstract	This paper is concerned with the experimental study performance of a smart wheelchair system named TIM (Thought-controlled Intelligent Machine), which uses a unique camera configuration for vision. Included in this configuration are stereoscopic cameras for 3-Dimensional (3D) depth perception and mapping ahead of the wheelchair, and a spherical camera system for 360-degrees of monocular vision. The camera combination provides obstacle detection and mapping in unknown environments during real-time autonomous navigation of the wheelchair. With the integration of hands-free wheelchair control technology, designed as control methods for people with severe physical disability, the smart wheelchair system can assist the user with automated guidance during navigation. An experimental study on this system was conducted with a total of 10 participants, consisting of 8 able-bodied subjects and 2 tetraplegic (C-6 to C-7) subjects. The hands-free control technologies utilized for this testing were a head-movement controller (HMC) and a brain-computer interface (BCI). The results showed the assistance of TIM's automated guidance system had a statistically significant reduction effect (p-value = 0.000533) on the completion times of the obstacle course presented in the experimental study, as compared to the test runs conducted without the assistance of TIM. © 2013 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 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS	en_US
dc.relation.isbasedon	10.1109/EMBC.2013.6610571	en_US
dc.subject.mesh	Hand	en_US
dc.subject.mesh	Humans	en_US
dc.subject.mesh	Quadriplegia	en_US
dc.subject.mesh	Equipment Design	en_US
dc.subject.mesh	Wheelchairs	en_US
dc.subject.mesh	Depth Perception	en_US
dc.subject.mesh	Artificial Intelligence	en_US
dc.subject.mesh	Adult	en_US
dc.subject.mesh	Middle Aged	en_US
dc.subject.mesh	Female	en_US
dc.subject.mesh	Male	en_US
dc.subject.mesh	Vision, Ocular	en_US
dc.subject.mesh	Young Adult	en_US
dc.subject.mesh	Brain-Computer Interfaces	en_US
dc.title	Experimental study on a smart wheelchair system using a combination of stereoscopic and spherical vision	en_US
dc.type	Conference Proceeding
utslib.for	0903 Biomedical Engineering	en_US
dc.location.activity	Osaka, Japan	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 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 experimental study performance of a smart wheelchair system named TIM (Thought-controlled Intelligent Machine), which uses a unique camera configuration for vision. Included in this configuration are stereoscopic cameras for 3-Dimensional (3D) depth perception and mapping ahead of the wheelchair, and a spherical camera system for 360-degrees of monocular vision. The camera combination provides obstacle detection and mapping in unknown environments during real-time autonomous navigation of the wheelchair. With the integration of hands-free wheelchair control technology, designed as control methods for people with severe physical disability, the smart wheelchair system can assist the user with automated guidance during navigation. An experimental study on this system was conducted with a total of 10 participants, consisting of 8 able-bodied subjects and 2 tetraplegic (C-6 to C-7) subjects. The hands-free control technologies utilized for this testing were a head-movement controller (HMC) and a brain-computer interface (BCI). The results showed the assistance of TIM's automated guidance system had a statistically significant reduction effect (p-value = 0.000533) on the completion times of the obstacle course presented in the experimental study, as compared to the test runs conducted without the assistance of TIM. © 2013 IEEE.

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http://hdl.handle.net/10453/23992