Camera Space Particle Filter for the Robust and Precise Indoor Localization of a Wheelchair
Joint Authors
Chavez-Romero, Raul
Cardenas, Antonio
Maya, Mauro
Sanchez, Alejandra
Piovesan, Davide
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-11-15
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
This paper presents the theoretical development and experimental implementation of a sensing technique for the robust and precise localization of a robotic wheelchair.
Estimates of the vehicle’s position and orientation are obtained, based on camera observations of visual markers located at discrete positions within the environment.
A novel implementation of a particle filter on camera sensor space (Camera-Space Particle Filter) is used to combine visual observations with sensed wheel rotations mapped onto a camera space through an observation function.
The camera space particle filter fuses the odometry and vision sensors information within camera space, resulting in a precise update of the wheelchair’s pose.
Using this approach, an inexpensive implementation on an electric wheelchair is presented.
Experimental results within three structured scenarios and comparative performance using an Extended Kalman Filter (EKF) and Camera-Space Particle Filter (CSPF) implementations are discussed.
The CSPF was found to be more precise in the pose of the wheelchair than the EKF since the former does not require the assumption of a linear system affected by zero-mean Gaussian noise.
Furthermore, the time for computational processing for both implementations is of the same order of magnitude.
American Psychological Association (APA)
Chavez-Romero, Raul& Cardenas, Antonio& Maya, Mauro& Sanchez, Alejandra& Piovesan, Davide. 2015. Camera Space Particle Filter for the Robust and Precise Indoor Localization of a Wheelchair. Journal of Sensors،Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1110661
Modern Language Association (MLA)
Chavez-Romero, Raul…[et al.]. Camera Space Particle Filter for the Robust and Precise Indoor Localization of a Wheelchair. Journal of Sensors No. 2016 (2016), pp.1-11.
https://search.emarefa.net/detail/BIM-1110661
American Medical Association (AMA)
Chavez-Romero, Raul& Cardenas, Antonio& Maya, Mauro& Sanchez, Alejandra& Piovesan, Davide. Camera Space Particle Filter for the Robust and Precise Indoor Localization of a Wheelchair. Journal of Sensors. 2015. Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1110661
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1110661