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Corridor following wheelchair by visual servoing

François Pasteau 1 Marie Babel 1 Rafik Sekkal 1 
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : In this paper, we present an autonomous naviga- tion framework of a wheelchair by means of a single camera and visual servoing. We focus on a corridor following task where no prior knowledge of the environment is required. Our approach embeds an image-based controller, thus avoiding to estimate the pose of the wheelchair. The servoing process matches the non holonomous constraints of the wheelchair and relies on two visual features, namely the vanishing point location and the orientation of the median line formed by the straight lines related to the bottom of the walls. This overcomes the process initialization issue typically raised in the literature. The control scheme has been implemented onto a robotized wheelchair and results show that it can follow a corridor with an accuracy of ±3cm.
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Submitted on : Monday, August 19, 2013 - 12:32:21 PM
Last modification on : Thursday, January 20, 2022 - 4:20:35 PM
Long-term archiving on: : Wednesday, November 20, 2013 - 4:14:58 AM


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  • HAL Id : hal-00851952, version 1


François Pasteau, Marie Babel, Rafik Sekkal. Corridor following wheelchair by visual servoing. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013, Nov 2013, Tokyo, Japan. pp.590-595. ⟨hal-00851952⟩



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