Active vision for controlling an electric wheelchair

Authors:
Alaa Halawani;Shafiq Ur Réhman;Haibo Li;Adi Anani
Affiliations:
Digital Media Lab, Department of Applied Physics and Electronics, Umeå University, Umeå, Sweden 90187 and Department of Electrical and Computer Engineering, Palestine Polytechnic Univers ...;Digital Media Lab, Department of Applied Physics and Electronics, Umeå University, Umeå, Sweden 90187;Digital Media Lab, Department of Applied Physics and Electronics, Umeå University, Umeå, Sweden 90187;Digital Media Lab, Department of Applied Physics and Electronics, Umeå University, Umeå, Sweden 90187
Venue:
Intelligent Service Robotics
Year:
2012

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Abstract

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.