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Active vision for door localization and door opening using Playbot: A computer controlled wheelchair for people with mobility impairments (2008)
| Content Provider | CiteSeerX |
|---|---|
| Author | Andreopoulos, Er Tsotsos, John K. |
| Description | Playbot [1, 13] is a long-term, large-scale research project, whose goal is to provide a vision-based computer controlled wheelchair that enables children and adults with mobility impairments to become more independent. Within this context, we show how Playbot can actively search an in-door environment to localize a door, approach the door, use a mounted robotic arm to open the door, and go through the door, using exclusively vision-based sensors and without us-ing a map of the environment. We demonstrate the effective-ness of active vision for localizing objects that are too large to fall within a single camera’s field of view and show that well-calibrated vision-based sensors are sufficient to safely pass through a door frame that is narrow enough to tolerate a wheelchair localization error of at most a few centimetres. We provide experimental results demonstrating near perfect performance in an indoor environment. 1. |
| File Format | |
| Language | English |
| Publisher Date | 2008-01-01 |
| Publisher Institution | In Proceedings Canadian Conference on Computer and Robot Vision (CRV |
| Access Restriction | Open |
| Subject Keyword | Door Localization Well-calibrated Vision-based Sensor Mounted Robotic Arm In-door Environment Wheelchair Localization Error Single Camera Field Near Perfect Performance Indoor Environment Large-scale Research Project Vision-based Computer Door Opening Vision-based Sensor Experimental Result Mobility Impairment Door Frame Active Vision |
| Content Type | Text |
| Resource Type | Article |
