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- W1608838433 abstract "Designing intelligent navigation systems is a challenging task because environmental uncertainty may prevent mission accomplishment. This paper presents a smart wheelchair navigation system using information from the goal position indicated by the user’s gaze. The system tracks the user’s head with a web camera to determine the direction where the gaze is fixed. Then, it detects the area that the user gazed at, in the panoramic image obtained from an omni-directional camera and sets the area as the destination. Once the destination is fixed, navigation starts by rotating the wheelchair heading to the destination by visual servoing with SURF descriptors around the destination area. During maneuver, a laser range sensor scans critical wheelchair’s area for obstacles. If detected, their distribution is analyzed to generate steering commands for avoiding them and eventually ensuring the wheelchair’s pose towards the goal. Experimental operation in indoor environments has shown the feasibility of the proposed system." @default.
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- W1608838433 date "2010-01-01" @default.
- W1608838433 modified "2023-10-14" @default.
- W1608838433 title "Smart Wheelchair Navigation Based on User’s Gaze on Destination" @default.
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- W1608838433 doi "https://doi.org/10.1007/978-3-642-14831-6_52" @default.
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