Active vision for controlling an electric wheelchair
2012 (English)In: Intelligent Service Robotics, ISSN 1861-2776, Vol. 5, no 2, 89-98 p.Article in journal (Refereed) Published
Most of the electric wheelchairs available in the market are joystick-driven and therefore assume that the user is able to use his hand motion to steer the wheelchair. This does not apply to many users that are only capable of moving the head like quadriplegia patients. This paper presents a vision-based head motion tracking system to enable such patients of controlling the wheelchair. The novel approach that we suggest is to use active vision rather than passive to achieve head motion tracking. In active vision-based tracking, the camera is placed on the user’s head rather than in front of it. This makes tracking easier, more accurate and enhances the resolution. This is demonstrated theoretically and experimentally. The proposed tracking scheme is then used successfully to control our electric wheelchair to navigate in a real world environment.
Place, publisher, year, edition, pages
Springer, 2012. Vol. 5, no 2, 89-98 p.
Computer Vision and Robotics (Autonomous Systems)
Research subject Computerized Image Analysis
IdentifiersURN: urn:nbn:se:umu:diva-53231OAI: oai:DiVA.org:umu-53231DiVA: diva2:510849