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

Nguyen, JS; Nguyen, TN; Tran, Y; Su, SW; Craig, A; Nguyen, HT

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

Nguyen, JS Nguyen, TN Tran, Y Su, SW Craig, A Nguyen, HT

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Publisher:: IEEE Xplore
Publication Type:: Conference Proceeding
Citation:: Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 2012, pp. 3069 - 3072
Issue Date:: 2012-12-14

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Field	Value	Language
dc.contributor.author	Nguyen, JS	en_US
dc.contributor.author	Nguyen, TN	en_US
dc.contributor.author	Tran, Y	en_US
dc.contributor.author	Su, SW	en_US
dc.contributor.author	Craig, A	en_US
dc.contributor.author	Nguyen, HT	en_US
dc.date	2012-08-28	en_US
dc.date.issued	2012-12-14	en_US
dc.identifier.citation	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 2012, pp. 3069 - 3072	en_US
dc.identifier.isbn	9781424441198	en_US
dc.identifier.issn	1557-170X	en_US
dc.identifier.uri	http://hdl.handle.net/10453/119555
dc.description.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). © 2012 IEEE.	en_US
dc.publisher	IEEE Xplore	en_US
dc.relation.ispartof	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS	en_US
dc.relation.ispartof	International Conference of the IEEE Engineering in Medicine and Biology Society	en_US
dc.relation.isbasedon	10.1109/EMBC.2012.6346612	en_US
dc.rights	© 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	Real-time performance of a hands-free semi-autonomous wheelchair system using a combination of stereoscopic and spherical vision	en_US
dc.type	Conference Proceeding
utslib.location.activity	San Diego, CA, USA	en_US
utslib.for	0903 Biomedical Engineering	en_US
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/Faculty of Engineering and Information Technology/School of Biomedical Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CHT - Health Technologies
utslib.copyright.status	closed_access	*
pubs.declined	2017-11-01T10:12:00.377+1100
pubs.consider-herdc	false	en_US
pubs.deleted	2017-11-01T10:12:00.377+1100
pubs.finish-date	2012-09-01	en_US
pubs.publication-status	Published	en_US
pubs.start-date	2012-08-28	en_US

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). © 2012 IEEE.

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http://hdl.handle.net/10453/119555