title: Freespace estimation in an autonomous wheelchair using a stereoscopic camera system.
abstract: This paper is concerned with the estimation of the height and width of freespace based on a Bayesian Recursive (BR) algorithm for an autonomous wheelchair using a stereoscopic camera system for disabled people. A 2D distance map for the purpose of freespace estimation is converted from a 3D point map using geometric projection and computation. The comparison of this 2D map to a 2D map obtained from Laser is carried out. Moreover, freespaces in the 2D map are estimated using a BR algorithm based on uncertainty information and control data. Given the average probability, a possible movement decision is then made for the mobile wheelchair. Experimental results obtained in an indoor environment prove the effectiveness of this estimation algorithm.
authors.affiliation: BioMedical Engineering Department, Ho Chi Minh International University, Viet Nam. thnguyen@eng.uts.edu.au
authors.forename: Thanh H
authors.initials: TH
authors.lastname: Nguyen
authors.forename: Kiet T
authors.initials: KT
authors.lastname: Vo
mesh_terms: D000465:Algorithms; D001499:Bayes Theorem; D003196:Computer Graphics; D006233:Persons with Disabilities / Q000534:rehabilitation; D006801:Humans; D007091:Image Processing, Computer-Assisted / Q000379:methods*; D010781:Photography / Q000379:methods*; D012656:Self-Help Devices; D015357:Vision Disparity; D014910:Wheelchairs