Skip to main content
EURASIP Journal on Image and Video Processing
Download PDF

An Omnidirectional Stereo Vision-Based Smart Wheelchair

EURASIP Journal on Image and Video Processing volume 2007, Article number: 087646 (2007) Cite this article

Abstract

To support safe self-movement of the disabled and the aged, we developed an electric wheelchair that realizes the functions of detecting both the potential hazards in a moving environment and the postures and gestures of a user by equipping an electric wheelchair with the stereo omnidirectional system (SOS), which is capable of acquiring omnidirectional color image sequences and range data simultaneously in real time. The first half of this paper introduces the SOS and the basic technology behind it. To use the multicamera system SOS on an electric wheelchair, we developed an image synthesizing method of high speed and high quality and the method of recovering SOS attitude changes by using attitude sensors is also introduced. This method allows the SOS to be used without being affected by the mounting attitude of the SOS. The second half of this paper introduces the prototype electric wheelchair actually manufactured and experiments conducted using the prototype. The usability of the electric wheelchair is also discussed.

[123456789101112131415161718]

References

  1. 1.

    Meinel HH: Commercial applications of millimeterwaves history, present status, and future trends. IEEE Transactions on Microwave Theory and Techniques 1995,43(7, part 1-2):1639-1653. 10.1109/22.392935

    Article  Google Scholar 

  2. 2.

    Kuno Y, Shimada N, Shirai Y: Look where you're going [robotic wheelchair]. IEEE Robotics & Automation Magazine 2003,10(1):26-34. 10.1109/MRA.2003.1191708

    Article  Google Scholar 

  3. 3.

    Bourhis G, Horn O, Habert O, Pruski A: An autonomous vehicle for people with motor disabilities. IEEE Robotics and Automation Magazine 2001,8(1):20-28. 10.1109/100.924353

    Article  Google Scholar 

  4. 4.

    Borgolte U, Hoyer H, Bühler C, Heck H, Hoelper R: Architectural concepts of a semi-autonomous wheelchair. Journal of Intelligent and Robotic Systems 1998,22(3-4):233-253. 10.1023/A:1007944531532

    Article  Google Scholar 

  5. 5.

    Yoder J-D, Baumgartner ET, Skaar SB: Initial results in the development of a guidance system for a powered wheelchair. IEEE Transactions on Rehabilitation Engineering 1996,4(3):143-151. 10.1109/86.536769

    Article  Google Scholar 

  6. 6.

    Yanco HA: Wheelesley, a robotic wheelchair system: indoor navigation and user interface. In Assistive Technology and Artificial Intelligence, Lecture Notes in Artificial Intelligence. Springer, New York, NY, USA; 1998:256-268.

    Chapter  Google Scholar 

  7. 7.

    Simpson R, LoPresti E, Hayashi S, Nourbakhsh I, Miller D: The smart wheelchair component system. Journal of Rehabilitation Research and Development 2004,41(3B):429-442. 10.1682/JRRD.2003.03.0032

    Article  Google Scholar 

  8. 8.

    Simpson RC: Smart wheelchairs: a literature review. Journal of Rehabilitation Research and Development 2005,42(4):423-438. 10.1682/JRRD.2004.08.0101

    Article  Google Scholar 

  9. 9.

    Yagi Y, Kawato S, Tsuji S: Real-time omnidirectional image sensor (COPIS) for vision-guided navigation. IEEE Transactions on Robotics and Automation 1994,10(1):11-22. 10.1109/70.285581

    Article  Google Scholar 

  10. 10.

    Kurata J, Grattan KTV, Uchiyama H: Navigation system for a mobile robot with a visual sensor using a fish-eye lens. Review of Scientific Instruments 1998,69(2):585-590. 10.1063/1.1148698

    Article  Google Scholar 

  11. 11.

    Mandel C, Huebner K, Vierhuff T: Towards an autonomous wheelchair: cognitive aspects in service robotics. Proceedings of Towards Autonomous Robotic Systems (TAROS '05), September 2005, London, UK 165-172.

    Google Scholar 

  12. 12.

    Moezzi S (Ed): Immersive telepresence In IEEE Multimedia 1997,4(1):17-56. 10.1109/MMUL.1997.580996

    Article  Google Scholar 

  13. 13.

    Tanahashi H, Shimada D, Yamamoto K, Niwa Y: Acquisition of three-dimensional information in a real environment by using the stereo omni-directional system (SOS). Proceedings of the 3rd International Conference on 3D Digital Imaging and Modeling (3DIM '01), May-June 2001, Quebec City, Que, Canada 365-371.

    Chapter  Google Scholar 

  14. 14.

    Shimizu S, Yamamoto K, Wang C, Satoh Y, Tanahashi H, Niwa Y: Moving object detection by mobile Stereo Omni-directional System (SOS) using spherical depth image. Pattern Analysis and Applications 2006,9(2-3):113-126. 10.1007/s10044-005-0008-4

    MathSciNet  Article  Google Scholar 

  15. 15.

    Wang C, Tanahashi H, Satoh Y, et al.: Generation of rotation invariant image using Stereo Omni-directional System (SOS). Proceedings of the 10th International Conference on Virtual Systems and Multimedia (VSMM '04), November 2004, Ogaki, Japan 269-272.

    Google Scholar 

  16. 16.

    Jaffe DL: An ultrasonic head position interface for wheelchair control. Journal of Medical Systems 1982,6(4):337-342. 10.1007/BF00992877

    Article  Google Scholar 

  17. 17.

    Barea R, Boquete L, Bergasa LM, López E, Mazo M: Electro-oculographic guidance of a wheelchair using eye movements codification. International Journal of Robotics Research 2003,22(7-8):641-652. 10.1177/02783649030227012

    Article  Google Scholar 

  18. 18.

    Fehr L, Langbein WE, Skaar SB: Adequacy of power wheelchair control interfaces for persons with severe disabilities: a clinical survey. Journal of Rehabilitation Research and Development 2000,37(3):353-360.

    Google Scholar 

Download references

Author information

Affiliations

  1. Information Technology Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Central 2, Umezono 1-1-1, Tsukuba, Ibaraki, 305-8568, Japan

    Yutaka Satoh & Katsuhiko Sakaue

Authors
  1. Yutaka Satoh
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Katsuhiko Sakaue
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Yutaka Satoh.

Rights and permissions

Open Access This article is distributed under the terms of the Creative Commons Attribution 2.0 International License (https://creativecommons.org/licenses/by/2.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Reprints and Permissions

About this article

Cite this article

Satoh, Y., Sakaue, K. An Omnidirectional Stereo Vision-Based Smart Wheelchair. J Image Video Proc 2007, 087646 (2007). https://doi.org/10.1155/2007/87646

Download citation

Keywords

  • Color
  • Image Processing
  • Pattern Recognition
  • Computer Vision
  • Color Image