Monocular vision for intelligent wheelchair indoor navigation based on natural landmark matching
Xiaodong Xu, Yuan Luo, Weixi Kong · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2010
This paper presents a real-time navigation system in a behavior-based manner. We show that autonomous navigation is possible in different rooms with the use of a single camera and natural landmarks. Firstly the intelligent wheelchair is manually guided on a path passing through different rooms and a video sequence is recorded with a front-facing camera. A 3D structure map is then gotten from this learning sequence by calculating the natural landmarks. Finally, the intelligent wheelchair uses this map to compute its localization and it follows the learning path or a slightly different path to achieve the real-time navigation. Experimental results indicate that this method is effective even when the viewpoint and scale is changed.