Vision Based Intelligent Wheel Chair Control: The Role of Vision and Inertial Sensing in Topological Navigation Export

@article{citeulike:1729488, abstract = {This paper describes ongoing research on vision based mobile robot navigation for wheel chairs. After a guided tour through a natural environment while taking images at regular time intervals, natural landmarks are extracted to automatically build a topological map. Later on this map can be used for place recognition and navigation. We use visual servoing on the landmarks to steer the robot. In this paper, we investigate ways to improve the performance by incorporating inertial sensors. {\copyright} 2004 Wiley Periodicals, Inc.}, address = {ESAT-PSI, University of Leuven, Belgium; PMA, University of Leuven, Belgium; ESAT-PSI, University of Leuven, Belgium; ESAT-PSI, University of Leuven, Belgium and BIWI, ETH Z\"{u}rich, Switzerland}, author = {Goedem\'{e}, Toon and Nuttin, Marnix and Tuytelaars, Tinne and Van Gool, Luc}, citeulike-article-id = {1729488}, citeulike-linkout-0 = {http://dx.doi.org/10.1002/rob.10130}, citeulike-linkout-1 = {http://www3.interscience.wiley.com/cgi-bin/abstract/107064036/ABSTRACT}, doi = {10.1002/rob.10130}, journal = {Journal of Robotic Systems}, keywords = {image, inertial, navigation, processing, system, vision, wheelchair}, number = {2}, pages = {85--94}, posted-at = {2007-10-05 04:56:31}, priority = {0}, title = {Vision Based Intelligent Wheel Chair Control: The Role of Vision and Inertial Sensing in Topological Navigation}, url = {http://dx.doi.org/10.1002/rob.10130}, volume = {21}, year = {2004} }

TY - JOUR ID - citeulike:1729488 L3 - citeulike-article-id:1729488 N2 - This paper describes ongoing research on vision based mobile robot navigation for wheel chairs. After a guided tour through a natural environment while taking images at regular time intervals, natural landmarks are extracted to automatically build a topological map. Later on this map can be used for place recognition and navigation. We use visual servoing on the landmarks to steer the robot. In this paper, we investigate ways to improve the performance by incorporating inertial sensors. © 2004 Wiley Periodicals, Inc. IS - 2 JF - Journal of Robotic Systems AD - ESAT-PSI, University of Leuven, Belgium; PMA, University of Leuven, Belgium; ESAT-PSI, University of Leuven, Belgium; ESAT-PSI, University of Leuven, Belgium and BIWI, ETH Zürich, Switzerland EP - 94 TI - Vision Based Intelligent Wheel Chair Control: The Role of Vision and Inertial Sensing in Topological Navigation VL - 21 SP - 85 KW - image KW - inertial KW - navigation KW - processing KW - system KW - vision KW - wheelchair AU - Goedemé, Toon AU - Nuttin, Marnix AU - Tuytelaars, Tinne AU - Van Gool, Luc PY - 2004/// UR - http://dx.doi.org/10.1002/rob.10130 ER -