Bayesian Recursive Algorithm for Width Estimation of Freespace for a Power Wheelchair using Stereoscopic Cameras

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dc.contributor.author Nguyen, Hai en_US
dc.contributor.author Nguyen, Jordan en_US
dc.contributor.author Nguyen, Hung en_US
dc.contributor.editor Dumont, Guy; Galiana, H. en_US
dc.date.accessioned 2010-05-28T10:01:55Z
dc.date.available 2010-05-28T10:01:55Z
dc.date.issued 2008 en_US
dc.identifier 2008001787 en_US
dc.identifier.citation Nguyen Hai, Nguyen Jordan, and Nguyen Hung 2008, 'Bayesian Recursive Algorithm for Width Estimation of Freespace for a Power Wheelchair using Stereoscopic Cameras', IEEE, Vancouver, Canada, pp. 4234-4237. en_US
dc.identifier.issn 978-1-4244-1815-2 en_US
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/11112
dc.description.abstract This paper is concerned with the estimation of freespace based on a Bayesian recursive (BR) algorithm for an autonomous wheelchair using stereoscopic cameras by severely disabled people. A stereo disparity map processed from both the left and right camera images is constructed to generate a 3D point map through a geometric projection algorithm. This is then converted to a 2D distance map for the purpose of freespace estimation. The width of freespace is estimated using a BR algorithm based on uncertainty information and control data. Given the probabilities of this width computed, a possible movement decision is then made for the mobile wheelchair. Experimental results obtained in an indoor environment show the effectiveness of this estimation algorithm. en_US
dc.language en_US
dc.publisher IEEE en_US
dc.relation.hasversion Accepted manuscript version en_US
dc.relation.isbasedon http://dx.doi.org/10.1109/IEMBS.2008.4650144 en_US
dc.title Bayesian Recursive Algorithm for Width Estimation of Freespace for a Power Wheelchair using Stereoscopic Cameras en_US
dc.parent Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society en_US
dc.journal.volume en_US
dc.journal.number en_US
dc.publocation Vancouver, Canada en_US
dc.identifier.startpage 4234 en_US
dc.identifier.endpage 4237 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.for 090305 en_US
dc.personcode 102877 en_US
dc.personcode 102950 en_US
dc.personcode 840115 en_US
dc.percentage 100 en_US
dc.classification.name Rehabilitation Engineering en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom IEEE Engineering in Medicine and Biology Society Annual Conference en_US
dc.date.activity 20080820 en_US
dc.location.activity Vancouver, Canada en_US
dc.description.keywords stereoscopic cameras, power wheelchair, bayesian algorithm en_US
dc.staffid en_US
dc.staffid 840115 en_US


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