Low-cost visual tracking with an intelligent wheelchair for innovative assistive care

Miro, JV; Poon, J; Huang, S

Low-cost visual tracking with an intelligent wheelchair for innovative assistive care

Miro, JV

Poon, J Huang, S

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Publication Type:: Conference Proceeding
Citation:: 2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012, 2012, pp. 1540 - 1545
Issue Date:: 2012-12-01

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Field	Value	Language
dc.contributor.author	Miro, JV https://orcid.org/0000-0002-0083-7797	en_US
dc.contributor.author	Poon, J	en_US
dc.contributor.author	Huang, S https://orcid.org/0000-0002-6124-4178	en_US
dc.date.issued	2012-12-01	en_US
dc.identifier.citation	2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012, 2012, pp. 1540 - 1545	en_US
dc.identifier.isbn	9781467318716	en_US
dc.identifier.uri	http://hdl.handle.net/10453/31483
dc.description.abstract	This paper presents the development of a low-cost vision-based robotic wheelchair system towards autonomous convoying. The non-holonomic follower vehicle obtains visual real-time pose data of a known coplanar target installed on the back of the leading vehicle. This allows the tracking vehicle to mimic the path of the preceding vehicle, while maintaining a safe distance behind it with the aid of a controller based on the robot's kinematics constraints. A back-end visual filter is proposed in the planning strategy to overcome the noisy environmental information acquired from the camera as it tracks the vehicle in front. The effectiveness of the approach is evaluated in an indoor setting using data obtained from an instrumented wheelchair platform and a low-cost camera, and validated with observations from a laser range finder and derived (known) maps of the environment. © 2012 IEEE.	en_US
dc.relation.ispartof	2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012	en_US
dc.relation.isbasedon	10.1109/ICARCV.2012.6485375	en_US
dc.title	Low-cost visual tracking with an intelligent wheelchair for innovative assistive care	en_US
dc.type	Conference Proceeding
utslib.for	091303 Autonomous Vehicles	en_US
dc.location.activity	Guangzhou, China
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 Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Students
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

This paper presents the development of a low-cost vision-based robotic wheelchair system towards autonomous convoying. The non-holonomic follower vehicle obtains visual real-time pose data of a known coplanar target installed on the back of the leading vehicle. This allows the tracking vehicle to mimic the path of the preceding vehicle, while maintaining a safe distance behind it with the aid of a controller based on the robot's kinematics constraints. A back-end visual filter is proposed in the planning strategy to overcome the noisy environmental information acquired from the camera as it tracks the vehicle in front. The effectiveness of the approach is evaluated in an indoor setting using data obtained from an instrumented wheelchair platform and a low-cost camera, and validated with observations from a laser range finder and derived (known) maps of the environment. © 2012 IEEE.

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http://hdl.handle.net/10453/31483