Corridor following wheelchair by visual servoing

Francois Pasteau, Marie Babel, Rafiq Sekkal
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, we present an autonomous navigation framework of a wheelchair by means of a single camera and visual servoing. We focus on a corridor following task where no prior knowledge of the environment is required. Our approach embeds an image-based controller, thus avoiding to estimate the pose of the wheelchair. The servoing process matches the non holonomous constraints of the wheelchair and relies on two visual features, namely the vanishing point location and the orientation of the
more » ... dian line formed by the straight lines related to the bottom of the walls. This overcomes the process initialization issue typically raised in the literature. The control scheme has been implemented onto a robotized wheelchair and results show that it can follow a corridor with an accuracy of ±3cm.
doi:10.1109/iros.2013.6696411 dblp:conf/iros/PasteauBS13 fatcat:gkmojemi6rahhetfaqieu6jugu