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SpheriCol: A Driving Assistance System for Power Wheelchairs Based on Spherical Vision and Range Measurements

Abstract : This paper presents "SpheriCol", a new driving assistance system for power wheelchair users. The ROS-based aid system combines spherical images from a twin-fisheye camera and range measurements from on-board exterocep-tive sensors, to synthesize different augmented views of the surrounding environment. Experiments with a Quickie Salsa wheelchair show that SpheriCol improves situational awareness and supports user's decision in challenging maneuvers, such as passing through a door or corridor centering.
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https://hal.archives-ouvertes.fr/hal-02958902
Contributor : Guillaume Caron <>
Submitted on : Friday, October 23, 2020 - 1:27:35 AM
Last modification on : Thursday, May 27, 2021 - 11:48:02 AM
Long-term archiving on: : Sunday, January 24, 2021 - 6:08:47 PM

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Sarah Delmas, Fabio Morbidi, Guillaume Caron, Julien Albrand, Meven Jeanne-Rose, et al.. SpheriCol: A Driving Assistance System for Power Wheelchairs Based on Spherical Vision and Range Measurements. IEEE/SICE International Symposium on System Integration, Jan 2021, Iwaki, Japan. pp.505-510, ⟨10.1109/IEEECONF49454.2021.9382766⟩. ⟨hal-02958902⟩

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