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Proceedings Paper

Monocular vision for intelligent wheelchair indoor navigation based on natural landmark matching
Author(s): Xiaodong Xu; Yuan Luo; Weixi Kong
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Paper Abstract

This paper presents a real-time navigation system in a behavior-based manner. We show that autonomous navigation is possible in different rooms with the use of a single camera and natural landmarks. Firstly the intelligent wheelchair is manually guided on a path passing through different rooms and a video sequence is recorded with a front-facing camera. A 3D structure map is then gotten from this learning sequence by calculating the natural landmarks. Finally, the intelligent wheelchair uses this map to compute its localization and it follows the learning path or a slightly different path to achieve the real-time navigation. Experimental results indicate that this method is effective even when the viewpoint and scale is changed.

Paper Details

Date Published: 31 December 2010
PDF: 5 pages
Proc. SPIE 7544, Sixth International Symposium on Precision Engineering Measurements and Instrumentation, 75443F (31 December 2010); doi: 10.1117/12.885245
Show Author Affiliations
Xiaodong Xu, Univ. of Electronic Science and Technology of China (China)
Yuan Luo, Chongqing Univ. of Posts and Telecommunications (China)
Weixi Kong, Chongqing Univ. of Posts and Telecommunications (China)


Published in SPIE Proceedings Vol. 7544:
Sixth International Symposium on Precision Engineering Measurements and Instrumentation
Jiubin Tan; Xianfang Wen, Editor(s)

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