Real-time obstacle detection for an autonomous wheelchair using stereoscopic cameras

Nguyen, TH; Nguyen, JS; Pham, DM; Nguyen, HT

Real-time obstacle detection for an autonomous wheelchair using stereoscopic cameras

Nguyen, TH Nguyen, JS Pham, DM Nguyen, HT

Permalink

Publication Type:: Conference Proceeding
Citation:: Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings, 2007, pp. 4775 - 4778
Issue Date:: 2007-12-01

Closed Access

	Filename	Description	Size
	2007000022.pdf		631.15 kB	Adobe PDF	View/Open

Copyright Clearance Process

Recently Added
In Progress
Closed Access

This item is closed access and not available.

Full metadata record

Field	Value	Language
dc.contributor.author	Nguyen, TH	en_US
dc.contributor.author	Nguyen, JS	en_US
dc.contributor.author	Pham, DM	en_US
dc.contributor.author	Nguyen, HT https://orcid.org/0000-0003-3373-8178	en_US
dc.date.issued	2007-12-01	en_US
dc.identifier.citation	Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings, 2007, pp. 4775 - 4778	en_US
dc.identifier.isbn	1424407885	en_US
dc.identifier.isbn	9781424407880	en_US
dc.identifier.issn	0589-1019	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2886
dc.description.abstract	This paper is concerned with the development of a real-time obstacle avoidance system for an autonomous wheelchair using stereoscopic cameras by severely disabled people. Based on the left and right images captured from stereoscopic cameras mounted on the wheelchair, the optimal disparity is computed using the Sum of Absolute Differences (SAD) correlation method. From this disparity, a 3D depth map is constructed based on a geometric projection algorithm. A 2D map converted from this 3D map can then be employed to provide an effective obstacle avoidance strategy for this wheelchair. Experiment results obtained in a practical environment show the effectiveness of this real-time implementation. © 2007 IEEE.	en_US
dc.relation	http://purl.org/au-research/grants/arc/DP0666942
dc.relation	http://purl.org/au-research/grants/arc/LE0668541
dc.relation.ispartof	Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings	en_US
dc.relation.isbasedon	10.1109/IEMBS.2007.4353407	en_US
dc.subject.mesh	Humans	en_US
dc.subject.mesh	Photography	en_US
dc.subject.mesh	Wheelchairs	en_US
dc.subject.mesh	Avoidance Learning	en_US
dc.subject.mesh	Vision Disparity	en_US
dc.subject.mesh	Personal Autonomy	en_US
dc.subject.mesh	Algorithms	en_US
dc.subject.mesh	Cybernetics	en_US
dc.subject.mesh	Computer Systems	en_US
dc.subject.mesh	Disabled Persons	en_US
dc.title	Real-time obstacle detection for an autonomous wheelchair using stereoscopic cameras	en_US
dc.type	Conference Proceeding
utslib.for	090305 Rehabilitation Engineering	en_US
utslib.for	090303 Biomedical Instrumentation	en_US
dc.location.activity	Lyon, France	en_US
dc.location.activity	Manly Pacific, Manly, Australia
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CHT - Health Technologies
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

This paper is concerned with the development of a real-time obstacle avoidance system for an autonomous wheelchair using stereoscopic cameras by severely disabled people. Based on the left and right images captured from stereoscopic cameras mounted on the wheelchair, the optimal disparity is computed using the Sum of Absolute Differences (SAD) correlation method. From this disparity, a 3D depth map is constructed based on a geometric projection algorithm. A 2D map converted from this 3D map can then be employed to provide an effective obstacle avoidance strategy for this wheelchair. Experiment results obtained in a practical environment show the effectiveness of this real-time implementation. © 2007 IEEE.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/2886