NDLI: A new vision and navigation research for a guide-dog robot system in urban system

Content Provider	IEEE Xplore Digital Library
Author	Yuanlong Wei Xiangxin Kou Min Cheol Lee
Copyright Year	2014
Description	Author affiliation: Pusan Nat. Univ., Pusan, South Korea (Yuanlong Wei; Xiangxin Kou; Min Cheol Lee) This paper presents a development of guide-dog robot system for visually impaired. Based on a hall-sensor joystick and ultrasonic sensors, a “smart rope” system is designed for the human-robot interaction. In this system, multiple functions are provided for the self-walking in urban system, such as following, navigation and obstacle avoidance. To distinguish between small involuntary force and the intended navigational movement, a fuzzy logic control method is applied to improve the accuracy for the “smart rope” system manipulation. To compensate the lack of visual sense of visually impaired, a smart phone with camera is utilized as the robot vision, in order to detect the traffic lights and the zebra crossing. A fast vision recognition approach is provided based on Adaboosting and Template matching combined algorithm. For the evaluation of proposed method, an integrated system is implemented to the mobile robot platform. The performance of both interactive system and vision system are analyzed after the experiment in the urban environment. System's accuracy, usefulness and adaptability are verified. The experimental results showed that this new designed guide-dog robot system is suitable and effective to assist the visually impaired for the self-walking.
Starting Page	1290
Ending Page	1295
File Size	2981087
Page Count	6
File Format	PDF
e-ISBN	9781479957361
DOI	10.1109/AIM.2014.6878260
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-08
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Mobile robots Force Acoustics Navigation Zebra crossing Visually impaired Guide-dog robot Hall-sensor joystick ultrasonic sensor Fuzzy logic control Adaboosting Template matching Traffic lights
Content Type	Text
Resource Type	Article

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