Smart wheelchair guidance using optical flow

Workum, Karl van; Green, Richard

doi:10.1109/ivcnz.2009.5378359

2009 24th International Conference Image and Vision Computing New Zealand 2009

DOI: 10.1109/ivcnz.2009.5378359

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Smart wheelchair guidance using optical flow

Karl van Workum

Richard Green

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2012

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“…For example, in 7 it is not clear how the system would react to changes in the floor patterns, whereas in 6 Neural Networks strategies are considered during the camera calibration phase to tackle this issue. References 8,9 have investigated the use of optical flow to identify a dominant ground plane. However, their assumption is that the floor is the dominant plane.…”

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Robot Navigation Control Based on Monocular Images: An Image Processing Algorithm for Obstacle Avoidance Decisions

Benn

Lauria

2012

Mathematical Problems in Engineering

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This paper covers the use of monocular vision to control autonomous navigation for a robot in a dynamically changing environment. The solution focused on using colour segmentation against a selected floor plane to distinctly separate obstacles from traversable space: this is then supplemented with canny edge detection to separate similarly coloured boundaries to the floor plane. The resulting binary map (where white identifies an obstacle-free area and black identifies an obstacle) could then be processed by fuzzy logic or neural networks to control the robot’s next movements. Findings show that the algorithm performed strongly on solid coloured carpets, wooden, and concrete floors but had difficulty in separating colours in multicoloured floor types such as patterned carpets.

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Robot Navigation Control Based on Monocular Images: An Image Processing Algorithm for Obstacle Avoidance Decisions

Benn

Lauria

2012

Mathematical Problems in Engineering

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Smart wheelchair guidance using optical flow

Cited by 1 publication

References 10 publications

Robot Navigation Control Based on Monocular Images: An Image Processing Algorithm for Obstacle Avoidance Decisions

Robot Navigation Control Based on Monocular Images: An Image Processing Algorithm for Obstacle Avoidance Decisions

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