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

DSpace/Manakin Repository

Search OPUS


Advanced Search

Browse

My Account

Show simple item record

dc.contributor.author Nguyen, TH
dc.contributor.author Nguyen, JS
dc.contributor.author Nguyen, HT
dc.date.accessioned 2010-05-28T10:01:55Z
dc.date.issued 2008
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
dc.identifier.issn 1557-170X
dc.identifier.other E1 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.
dc.relation.hasversion Accepted manuscript version en_US
dc.title Bayesian recursive algorithm for width estimation of freespace for a power wheelchair using stereoscopic cameras.
dc.type Conference Proceeding
dc.parent Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference
dc.journal.number en_US
dc.publocation Vancouver, Canada en_US
dc.identifier.startpage 4234 en_US
dc.identifier.endpage 4237 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.for 090305 Rehabilitation Engineering
dc.personcode 840115
dc.personcode 102950
dc.personcode 102877
dc.percentage 100 en_US
dc.classification.name Rehabilitation Engineering en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom IEEE Engineering in Medicine and Biology Society Annual Conference en_US
dc.date.activity 20080820 en_US
dc.location.activity Vancouver, Canada en_US
pubs.embargo.period Not known
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 - Health Technologies
utslib.copyright.status Open Access
utslib.copyright.date 2015-04-15 12:23:47.074767+10
pubs.consider-herdc true
utslib.collection.history General (ID: 2)


Files in this item

This item appears in the following Collection(s)

Show simple item record