NDLI: Vision-based human-following control using optical flow field for power assisted wheelchair

Content Provider	IEEE Xplore Digital Library
Author	Motokucho, T. Oda, N.
Copyright Year	2014
Description	Author affiliation: Dept. of Opto-Electron. Syst. Eng., Chitose Inst. of Sci. & Technol., Chitose, Japan (Motokucho, T.; Oda, N.)
Abstract	This paper describes a power assisting control with human following function for robotic wheelchair. In our past research, visual feedback control of the wheelchair has been proposed for power assisting according to environmental changes, and it is useful for power assisted wheelchair to integrate several driving assistance, such as obstacle avoidance, following motion only from unified motion controller. In this paper, we propose human following function on the vision-based power assist controller. The proposed method employs optical flow vectors in the field of camera view, and it can be realized only from human leg view. In case that the camera system is mounted at lower position, then the camera image only includes human lower limb. The proposed method allows for stably tracking the walking human even in such a case. The validity of our approach is evaluated by several experimental results.
Starting Page	266
Ending Page	271
File Size	696957
Page Count	6
File Format	PDF
ISBN	9781479923236
DOI	10.1109/AMC.2014.6823293
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-03-14
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheelchairs Cameras Force Observers Vectors Optical imaging
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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