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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