Decision Making using Data Fusion for Wheelchair Navigation
| Autor: | Vladu Ionel Cristian, Ganea Eugen, Bazavan Lidia-Cristina, Resceanu Ionut Cristian, Roibu Horatiu |
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| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
business.industry Computer science ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION 02 engineering and technology computer.software_genre Sensor fusion 020901 industrial engineering & automation Wheelchair Robustness (computer science) Control system 0202 electrical engineering electronic engineering information engineering Redundancy (engineering) Robot Eye tracking 020201 artificial intelligence & image processing Computer vision Artificial intelligence business computer Data integration |
| Zdroj: | ICSTCC Web of Science |
| DOI: | 10.1109/icstcc.2019.8885823 |
| Popis: | This paper presents a subsystem of a semi-autonomous wheelchair controlled by eye gaze. The control decision is based on video and laser scanning acquisition. Data fusion between the information provided by the two systems was used. The obtained data are processed, adapted and provided to the Eye Gaze Control system. Various configurations for the proposed system were studied. Experiments conducted using RGB-D images and on points cloud provided by the LIDAR system demonstrated the reliability and the robustness of the proposed method. The next step will involve obstacles detecting, the objects that can block a specific given path. The two systems complement each other eliminating the disadvantages of each system. In case of removing one of them, the obtained system suffers from the lack of redundancy and safety in the event of a fault (essential condition for a semi-autonomous wheelchair). |
| Databáze: | OpenAIRE |
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