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Wheeled chair navigation (door crossing (Autonomos
Semi-autonomous mode,…
Wheeled chair navigation
Path planning
Novel Path Planning
- turn critical heuristic value f
- off-wall heuristic value w
- A*
- Dijkstra’s shortest path
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Computer vision
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Features
Can be represented as frequency coded distribution and
transforms the feature so as to introduce invariances to rotation and to scale
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Hough Transform feture extraction technique (Geometric Histograms). The purpose of the technique is to find imperfect instances of objects within a certain class of shapes by a voting procedure.
Bhattacharyya distance metric, compare similarity statistical to identify features
Matusita distance metric, function solution to compare distributions of different length
- Feature distance is calculated by the disparity between the two camera images
- and angles are found using odometry, relative to some arbitrary origin
Line Scan Camera (Simple system). This gives only a
little information, in the form of 1d edges. For planar environments. Only edge and corner information is used in all recognition tasks
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door crossing
- Autonomos
- Semi-autonomous mode
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SLAM
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Map type
- Topological
- Metric
- Hybrid
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