Autonomous Bus Boarding Robotic Wheelchair Using Bidirectional Sensing Systems. Al Mamun, S., Fukuda, H., Lam, A., Kobayashi, Y., & Kuno, Y. In Bebis, G., Boyle, R., Parvin, B., Koracin, D., Turek, M., Ramalingam, S., Xu, K., Lin, S., Alsallakh, B., Yang, J., Cuervo, E., & Ventura, J., editors, Advances in Visual Computing, of Lecture Notes in Computer Science, pages 737–747, Cham, 2018. Springer International Publishing. doi abstract bibtex Research interest in robotic wheelchairs is driven in part by their potential for improving the independence and quality-of-life of persons with disabilities and the elderly. Moreover, smart wheelchair systems aim to reduce the workload of the caregiver. In this paper, we propose a novel technique for 3D sensing using a conventional Laser Range Finder (LRF). We mounted two sensing systems onto our new six-wheeled robotic bus boarding wheelchair to locate the bus door and its determine its dimensions. Additionally, we have implemented a Single Shot Multibox Detector (SSD) to detect the bus doorsteps to allow for boarding. For precise movements, we successfully measure the height of the bus doorsteps and door width of the bus. Our step measurements and bus doorsteps detection technique for the wheelchair also enables the wheelchair to autonomously board a bus. Our experiments show the effectiveness and applicability of our system to real world robotic wheelchair freedom of movement.
@inproceedings{al_mamun_autonomous_2018,
address = {Cham},
series = {Lecture {Notes} in {Computer} {Science}},
title = {Autonomous {Bus} {Boarding} {Robotic} {Wheelchair} {Using} {Bidirectional} {Sensing} {Systems}},
isbn = {978-3-030-03801-4},
doi = {10.1007/978-3-030-03801-4_64},
abstract = {Research interest in robotic wheelchairs is driven in part by their potential for improving the independence and quality-of-life of persons with disabilities and the elderly. Moreover, smart wheelchair systems aim to reduce the workload of the caregiver. In this paper, we propose a novel technique for 3D sensing using a conventional Laser Range Finder (LRF). We mounted two sensing systems onto our new six-wheeled robotic bus boarding wheelchair to locate the bus door and its determine its dimensions. Additionally, we have implemented a Single Shot Multibox Detector (SSD) to detect the bus doorsteps to allow for boarding. For precise movements, we successfully measure the height of the bus doorsteps and door width of the bus. Our step measurements and bus doorsteps detection technique for the wheelchair also enables the wheelchair to autonomously board a bus. Our experiments show the effectiveness and applicability of our system to real world robotic wheelchair freedom of movement.},
language = {en},
booktitle = {Advances in {Visual} {Computing}},
publisher = {Springer International Publishing},
author = {Al Mamun, Shamim and Fukuda, Hisato and Lam, Antony and Kobayashi, Yoshinori and Kuno, Yoshinori},
editor = {Bebis, George and Boyle, Richard and Parvin, Bahram and Koracin, Darko and Turek, Matt and Ramalingam, Srikumar and Xu, Kai and Lin, Stephen and Alsallakh, Bilal and Yang, Jing and Cuervo, Eduardo and Ventura, Jonathan},
year = {2018},
keywords = {Bidirectional sensing, Lager range sensor, Robotic wheelchair},
pages = {737--747},
}
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