Automated doorway detection for assistive shared-control wheelchairs

Matthew Derry, Brenna Dee Argall

Research output: Chapter in Book/Report/Conference proceedingConference contribution

22 Scopus citations

Abstract

This work presents an algorithm for rapid, automated detection of open doorways using 3D point cloud data. The algorithm has been developed in the context of shared-control powered wheelchairs in which adaptive assistance is provided to individuals who otherwise might not possess the fine motor control necessary to handle potentially challenging activities, such as doorway traversal. In this context it is important to go beyond the 2D laser scanner for open doorway detection, for both safety reasons as well as opportunities for improved shared-control behavior development. We evaluate the doorway detection by systematically testing the performance on several doors and door configurations from varied view points, using point clouds generated by a Microsoft Kinect.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages1254-1259
Number of pages6
DOIs
StatePublished - Nov 14 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period5/6/135/10/13

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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