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Conference Papers Year : 2021

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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Dates and versions

hal-02958902 , version 1 (23-10-2020)

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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. SII 2021 - 13th 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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