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Vision-Based Assistive Navigation
for Robotic Wheelchair Platforms
P.E. Trahanias, M.I.A. Lourakis, A.A. Argyros
and S.C. Orphanoudakis
Institute of Computer Science
Foundation for Research and Technology { Hellas
P.O.Box 1385, Heraklion, 711 10 Crete, Greece
and
Department of Computer Science, University of Crete
P.O.Box 1470, Heraklion, 714 09 Crete, Greece
e-mail:ftrahania,lourakis,argyros,orphanoug@ics.forth.gr
Abstract: In this paper we present an approach towards providing advanced navigational capabilities to robotic
wheelchair platforms. Contemporary methods that are employed in robotic wheelchairs are based on the information
provided by range sensors and its appropriate exploitation by means of obstacle avoidance techniques. However, since
range sensors cannot support a detailed environment representation, these methods fail to provide advanced navigational
assistance, unless the environment is appropriately regulated (e.g. with the introduction of beacons). In order to avoid
any modi cations to the environment, we propose an alternative approach that employs computer vision techniques which
facilitate space perception and navigation. Computer vision has not been introduced todate in rehabilitation robotics, since
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