Skip to main content

Advertisement

You are viewing the new article page. Let us know what you think. Return to old version

An Omnidirectional Stereo Vision-Based Smart Wheelchair

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

  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

  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

  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

  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

  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.

  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

  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

  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

  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

  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.

  12. 12.

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

  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.

  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

  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.

  16. 16.

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

  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

  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.

Download references

Author information

Correspondence to Yutaka Satoh.

Rights and permissions

Reprints and Permissions

About this article

Keywords

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