TY - GEN
T1 - Automated doorway detection for assistive shared-control wheelchairs
AU - Derry, Matthew
AU - Argall, Brenna Dee
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84887283793&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84887283793&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2013.6630732
DO - 10.1109/ICRA.2013.6630732
M3 - Conference contribution
AN - SCOPUS:84887283793
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1254
EP - 1259
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -