Mobile Robots Navigation in Indoor Environments Using Kinect Sensor

Correa, Diogo Santos Ortiz; Sciotti, Diego Fernando; Prado, Marcos; Sales, Daniel Oliva; Wolf, Denis F.; Osorio,

doi:10.1109/cbsec.2012.18

Cited by 91 publications

(39 citation statements)

References 9 publications

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“…Indeed, consumer-grade devices such as the Microsoft Kinect has been employed as range-sensors for mobile robots (see e.g. [9]). The Kinect is relatively cheap, but suffers from the same problems as other 3D cameras at present [10].…”

Section: Related Workmentioning

confidence: 99%

Obstacle avoidance using haptics and a laser rangefinder

Ahlmark

Fredriksson

Hyyppä

2013

2013 IEEE Workshop on Advanced Robotics and Its Social Impacts

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Abstract-In its current form, the white cane has been used by visually impaired people for almost a century. It is one of the most basic yet useful navigation aids, mainly because of its simplicity and intuitive usage. For people who have a motion impairment in addition to a visual one, requiring a wheelchair or a walker, the white cane is impractical, leading to human assistance being a necessity. This paper presents the prototype of a virtual white cane using a laser rangefinder to scan the environment and a haptic interface to present this information to the user. Using the virtual white cane, the user is able to "poke" at obstacles several meters ahead and without physical contact with the obstacle. By using a haptic interface, the interaction is very similar to how a regular white cane is used. This paper also presents the results from an initial field trial conducted with six people with a visual impairment.

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Section: Related Workmentioning

confidence: 99%

Obstacle avoidance using haptics and a laser rangefinder

Ahlmark

Fredriksson

Hyyppä

2013

2013 IEEE Workshop on Advanced Robotics and Its Social Impacts

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“…These methods, in general, rely on high-resolution cameras to capture detailed features, but are sensitive to illumination and often require tedious and time-consuming filtering/segmentation algorithms, making human detection a difficult image-processing task. IR imagery can be found in a variety of applications, which include face recognition (Heo et al 2004), human body detection (Rudol and Doherty 2008), real-time people tracking (Treptow et al 2006) as well as indoor mobile robot navigation (Correa et al 2012); a survey of thermal cameras and applications can be found in (Gade and Moeslund 2014). For applications in public space, infrared imagers have several attractive features as compared to ordinary cameras based on visible lights.…”

Section: Introductionmentioning

confidence: 99%

Temperature-based alternate perception method for human-motion detection with visually impaired user applications

Jiang

Lee

2017

Int J Intell Robot Appl

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This paper presents an alternate perception method to improve the perception ability of the blind/visually impaired people who are generally familiar with stationary objects but less confident in congested environment where human motion is unpredictable. This method, taking advantages of the fact that the human body is essentially a natural heat source, utilizes temperature fields and their gradients from infrared (IR) images to locate individual humans in a relatively congested area and determine their face orientation and motion states. Unlike conventional illumination-sensitive visual images that often include many unrelated details, the normalized IR images in this method are naturally pre-filtered, effectively removing unwanted background ''noise'', which greatly simplifies the subsequent image processing tasks. The temperature-based method has been illustrated with three realistic scenes commonly encountered in daily walking. Practical implementation issues, which include the effects of low image resolution, overlapping/occlusions, reflection and non-human heat sources on the face orientation detection, are discussed; and their effects on the effectiveness and robustness of the method are experimentally investigated. The experimental findings offer physically intuitive insights into the development of alternate perception methods based on temperature field and its potential applications in intelligent space, smart city and smart cars.

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“…Mobile devices like the smartphones by incorporating hand gestures were turned into real-time control devices for interactive presentation. In addition, preliminary results of the construction of a surveillance system were presented [4]. Two subsystems were developed.…”

Section: Related Workmentioning

confidence: 99%

Context-Aware Kinect Sensor based PC Control Interface for Handicapped Users

2015

IJCA

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Mobile Robots Navigation in Indoor Environments Using Kinect Sensor

Cited by 91 publications

References 9 publications

Obstacle avoidance using haptics and a laser rangefinder

Obstacle avoidance using haptics and a laser rangefinder

Temperature-based alternate perception method for human-motion detection with visually impaired user applications

Context-Aware Kinect Sensor based PC Control Interface for Handicapped Users

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