Abstract:In this work, we present a motion control scheme for a robotic mobile platform using low-cost vision sensor to update encoder values. We track the pose of a power wheelchair using wheel encoders along with a Microsoft Kinect camera. Two methods of pose estimation are implemented and tested. These methods are a) encoder-based odometry and b)ICP(Iterative Closest Point)-based updated odometry. We evaluate the performance of each method using precise wheelchair pose ground truth data acquired via a state-of-thear… Show more
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.