Context-Based Face Control of a Robotic Wheelchair
Jesús Arturo Escobedo Cabello, Jorge Alberto Ríos-Martínez, Anne Spalanzani, Christian Laugier · 2012
Abstract — In this article a method to perform semiautonomous navigation on a wheelchair is presented, contextual information from the environment as user’s habits and points of interest are employed to infere the user’s desired destination in a global map. Illogical steering signals comming from the usermachine interface input are filtered out to improve the overall performance of the system. Examples using a face tracking system and voice recognition are presented. The estimation of the user’s desired goal is performed employing a Bayesian network. An autonomous navigation system is used to control the wheelchair’s low level navigation while the user is just concerned at pointing to the desired destination. Index Terms — Shared control, Bayesian network, semiautonomous navigation, wheelchair control, face pose.