A visual servoing approach for autonomous corridor following and doorway passing in a wheelchair

François Pasteau 1 Vishnu Karakkat Narayanan 1 Marie Babel 1 François Chaumette 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 : Navigating within an unknown indoor environment using an electric wheelchair is a challenging task, especially if the user suffers from severe disabilities. In order to reduce fatigability and increase autonomy, control architectures have to be designed that would assist users in wheelchair navigation. We present a framework for vision-based autonomous indoor navigation in an electric wheelchair capable of following corridors, and passing through open doorways using a single doorpost. Visual features extracted from cameras on board the wheelchair are used as inputs for image based controllers built-in the wheelchair. It has to be noted that no a-priori information is utilised except for the assumption that the wheelchair moves in a typical indoor environment while the system is coarsely calibrated. The designed control schemes have been implemented onto a robotized wheelchair and experimental results show the robust behaviour of the designed system.
Type de document :
Article dans une revue
Robotics and Autonomous Systems, Elsevier, 2016, 75, part A, pp.28-40. 〈10.1016/j.robot.2014.10.017〉
Liste complète des métadonnées

Littérature citée [34 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-01068163
Contributeur : Eric Marchand <>
Soumis le : jeudi 27 novembre 2014 - 08:52:58
Dernière modification le : mercredi 16 mai 2018 - 11:23:03
Document(s) archivé(s) le : vendredi 14 avril 2017 - 19:38:33

Fichier

RAS_2014.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Citation

François Pasteau, Vishnu Karakkat Narayanan, Marie Babel, François Chaumette. A visual servoing approach for autonomous corridor following and doorway passing in a wheelchair. Robotics and Autonomous Systems, Elsevier, 2016, 75, part A, pp.28-40. 〈10.1016/j.robot.2014.10.017〉. 〈hal-01068163v2〉

Partager

Métriques

Consultations de la notice

549

Téléchargements de fichiers

371