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Communication Dans Un Congrès Année : 2014

Omnidirectional photometric visual path following for wheelchair autonomous driving

Résumé

In this paper we address the issue of autonomous wheelchair navigation. Using an omnidirectional camera, we propose a system that allows wheelchair driving using a visual path following technique. First, a visual path composed of target images is acquired. Second, successive visual servoings are performed by minimizing the error between the current and a target image. Experiments were conducted on a variety of paths: straight line, curved line and forward/backward movements. The ground truth is obtained using a Vicon system that records wheelchair trajectories during the learning and the path following steps.
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Dates et versions

hal-01281652 , version 1 (02-03-2016)

Identifiants

  • HAL Id : hal-01281652 , version 1

Citer

Youssef Alj, Guillaume Caron, Nicolas Ragot. Omnidirectional photometric visual path following for wheelchair autonomous driving. 1st Healthcare Technology Days, CARETECH, Dec 2014, Rouen, France. ⟨hal-01281652⟩
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