A laser-vision based obstacle detection and distance estimation for smart wheelchair navigation
- Resource Type
- Conference
- Authors
- Utaminingrum, Fitri; Kurniawan, Tri Astoto; Fauzi, M Ali; Maulana, Rizal; Syauqy, Dahnial; Wihandika, Randy Cahya; Sari, Yuita Arum; Adikara, Putra Pandu
- Source
- 2016 IEEE International Conference on Signal and Image Processing (ICSIP) Signal and Image Processing (ICSIP), IEEE International Conference on. :123-127 Aug, 2016
- Subject
- Signal Processing and Analysis
Wheelchairs
Lasers
Cameras
Image segmentation
DC motors
Estimation
Wheels
obstacle detection
distance estimation
line laser image
blob method
smart wheelchair
- Language
The aim of the research is to present an approach of obstacle distance estimation and navigation for smart wheelchair. The smart wheelchair is an electric wheelchair equipped with camera and line laser to navigate and avoid an obstacle. The camera was used to capture images from the environment to sense the pathway condition. The line laser was used in combination with camera to recognize an obstacle in the pathway based on the shape of line laser image in certain angle. A blob method detection was applied on the line laser image to recognize the pattern of the detected obstacles. The line laser projector and camera were mounted in fixed-certain position to make sure a fixed relation between blobs-gaps and obstacle-to-wheelchair distance. A simple linear regression from 16 obtained data was used to represent this relation as the estimated obstacle distance. As a result, the average error between the estimation and actual distance was 1.25 cm from 7 data testing experiments. The experiments result indicates that the proposed method is able to estimate well the distance between wheelchair and obstacle. Later, the smart wheelchair needs to decide further action whether it should turn left, right or just walk straight when facing certain obstacle to avoid it.