Vision Based Intelligent Wheel Chair Control: The Role of Vision and Inertial Sensing in Topological Navigation

Authors:
Toon Goedemé;Marnix Nuttin;Tinne Tuytelaars;Luc Van Gool
Affiliations:
ESAT-PSI, University of Leuven, Belgium;PMA, University of Leuven, Belgium;ESAT-PSI, University of Leuven, Belgium;ESAT-PSI, University of Leuven, Belgium and BIWI, ETH Zürich, Switzerland
Venue:
Journal of Robotic Systems
Year:
2004

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Abstract

This paper describes ongoing research on vision based mobile robot navigation for wheel chairs. After a guided tour through a natural environment while taking images at regular time intervals, natural landmarks are extracted to automatically build a topological map. Later on this map can be used for place recognition and navigation. We use visual servoing on the landmarks to steer the robot. In this paper, we investigate ways to improve the performance by incorporating inertial sensors. © 2004 Wiley Periodicals, Inc.