Robot-assisted wayfinding for the visually impaired in structured indoor environments

Kulyukin, Vladimir; Gharpure, Chaitanya; Nicholson, John; Osborne, Grayson

doi:10.1007/s10514-006-7223-8

Cited by 133 publications

(69 citation statements)

References 20 publications

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“…Many of the applications found are oriented to give support to disabled or elderly people. In the University of Utah [15], an assistant robot for blind people has been implemented. This robot uses RFID tags to guide the people, in indoor environments, by giving information of the current place and guiding them to the desired destination.…”

Section: Related Workmentioning

confidence: 99%

Signage System for the Navigation of Autonomous Robots in Indoor Environments

Paredes

Malfáz

Salichs

2014

IEEE Trans. Ind. Inf.

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Section: Related Workmentioning

confidence: 99%

Signage System for the Navigation of Autonomous Robots in Indoor Environments

Paredes

Malfáz

Salichs

2014

IEEE Trans. Ind. Inf.

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“…Some of them have names such as LANDMARC, VIRE, FLEXOR. Kulyukin et al (2004) and Kulyukin et al (2006) used the passive RFID system with the LRF for guiding visually impaired. Chae and Han (2005) and Kamol et al (2007) used vision information to improve the position estimation performance.…”

Section: Rfid Systems For Indoor Mobile Robotsmentioning

confidence: 99%

Improving Position Estimation of the RFID Tag Floor Localization with Multiple Recognition Ranges

Park¹,

Lee²,

Kim³

et al. 2011

Advanced Radio Frequency Identification Design and Applications

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This chapter introduces the RFID tag floor localization method with multiple recognition ranges and its mathematical formulation to improve position estimation accuracy. Using the multiple recognition ranges of RFID reader, the reader can obtain more information about the distances to the tags on the tag floor. The information is used to improve the position estimation performance. At first, this chapter reviews the RFID tag floor localization method with single recognition range for mobile robots (Park et al., 2010) and The performance measure based on the position estimation error variance for the localization method. For the second, this paper extends the mathematical formulation of the localization method and the performance measure for the case of multiple recognition ranges. This work is related to the previous work (Park et al., 2009) that used multiple powers to improve position estimation performance. However, previous work lacks analysis and mathematical formulation of general RFID tag recognition models. We extend the mathematical formulation and the analysis of the single recognition range RFID tag floor localization method (Park et al., 2010) to the multiple recognition range case. Then the minimum error variance of multiple recognition range is introduced as a lower bound of position estimation error variance. Finally, it presents performance improvement of proposed localization method via the Monte-Carlo simulation and simple experiments. The analysis for the simulation and experimental results and the consideration for real application will be given. This chapter is organized as follows; This section discusses sensor systems used in the mobile robot localization. Then the advantages of the RFID systems as sensor systems for localization are discussed and the researches on the systems are reviewed. Section 2 introduces the RFID tag floor localization, its mathematical formulation and its performance index. Section 3 represents the motivation of introducing the use of multiple recognition ranges for the RFID tag floor localization method, and extend the mathematical formulation and the error variance for the multiple recognition range case. Section 4 conducts the Monte-Carlo simulation to show the improvement of the position estimation performance when the multiple recognition range is used. Section 5 represents experimental results that support the simulation results. In Section 6, the minimum error variance (Park et al., 2010) as a lower bound of error variance is extended to the multiple recognition range case. Section 7 gives the conclusions, discussions and tasks for the further researches.

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“…These tags allowed the robot to keep track of its position in each aisle and to correct global Markov localization errors. Several laser range finding techniques were developed for obstacle avoidance [13]. Single subject experiments were successfully executed with two VI participants.…”

Section: Robocartmentioning

confidence: 99%

Accessible Shopping Systems for Blind and Visually Impaired Individuals: Design Requirements and the State of the Art

Kulyukin¹,

Kutiyanawala²

2010

TOREHJ

Self Cite

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Independent grocery shopping is one of the most functionally challenging tasks for visually impaired and blind individuals. Many assistive shopping systems have been developed to address the problem of blind grocery shopping. In this article, we identify several design requirements for assistive shopping systems and analyze existing approaches to see how well they meet them. Our objective is to shed some light on possible research and development directions for the accessible blind shopping community and to offer designers of accessible shopping solutions evaluation tools that can be used as initial points of comparison.

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Robot-assisted wayfinding for the visually impaired in structured indoor environments

Cited by 133 publications

References 20 publications

Signage System for the Navigation of Autonomous Robots in Indoor Environments

Signage System for the Navigation of Autonomous Robots in Indoor Environments

Improving Position Estimation of the RFID Tag Floor Localization with Multiple Recognition Ranges

Accessible Shopping Systems for Blind and Visually Impaired Individuals: Design Requirements and the State of the Art

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