Real-time performance of a hands-free semi-autonomous wheelchair system using a combination of stereoscopic and spherical vision

Jordan S. Nguyen*, Tuan Nghia Nguyen, Yvonne Tran, Steven W. Su, Ashley Craig, Hung T. Nguyen

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contribution

5 Citations (Scopus)

Abstract

This paper is concerned with the operational performance of a semi-autonomous wheelchair system named TIM (Thought-controlled Intelligent Machine), which uses cameras in a system configuration modeled on the vision system of a horse. This new camera configuration utilizes stereoscopic vision for 3-Dimensional (3D) depth perception and mapping ahead of the wheelchair, combined with a spherical camera system for 360-degrees of monocular vision. The unique combination allows for static components of an unknown environment to be mapped and any surrounding dynamic obstacles to be detected, during real-time autonomous navigation, minimizing blind-spots and preventing accidental collisions with people or obstacles. Combining this vision system with a shared control strategy provides intelligent assistive guidance during wheelchair navigation, and can accompany any hands-free wheelchair control technology for people with severe physical disability. Testing of this system in crowded dynamic environments has displayed the feasibility and real-time performance of this system when assisting hands-free control technologies, in this case being a proof-of-concept brain-computer interface (BCI).

Original languageEnglish
Title of host publication2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2012
Pages3069-3072
Number of pages4
ISBN (Electronic)9781457717871
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2012 - San Diego, CA, United States
Duration: 28 Aug 20121 Sep 2012

Publication series

NameConference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
ISSN (Print)1557-170X

Conference

Conference34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2012
CountryUnited States
CitySan Diego, CA
Period28/08/121/09/12

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