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Authors: B. Allart 1 ; B. Marhic 1 ; L. Delahoche 1 ; O. Rémy-Néris 2 and A. M. Jolly-Desodt 3

Affiliations: 1 LTI – IUT Informatique Avenue des facultés, France ; 2 CHU of Brest, France ; 3 GEMTEX - 9, France

Keyword(s): Rehabilitation Robotics, Autonomous platform, wheelchair tracking, CAMSHIFT, Kalman filter.

Related Ontology Subjects/Areas/Topics: Biomedical Engineering ; Biomedical Instruments and Devices ; Biorobotics

Abstract: This paper deals with a robotised assistance dedicated for Handicap person. In this paper, we will propose to discus about one of the main functionality of this project: the tracking of the wheelchair from an autonomous mobile platform on which the Manus (c) arm is mounted. To ensure the tracking, we will present a method based on Kalman filter’s algorithm that we have upgraded in combination with two Kalman filtering levels. The first level permits an estimation of the wheelchair configuration in its environment and the second is used to compute the mobile platform configuration in connection with its environment. The association of the two filtering processes allows a robust tracking between a mobile target (wheelchair) and a mobile observer (assistive platform). More over, the team project was also composed with a clinical group; hence we present some interesting real-life testing of this technical assistance.

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Paper citation in several formats:
Allart, B.; Marhic, B.; Delahoche, L.; Rémy-Néris, O. and M. Jolly-Desodt, A. (2008). OMNIDIRECTIONAL VISION TACKING SYSTEM BASED ON KALMAN FILTERING AND OMNICAMSHIFT. In Proceedings of the First International Conference on Biomedical Electronics and Devices (BIOSTEC 2008) - Volume 2: BIODEVICES; ISBN 978-989-8111- 17-3; ISSN 2184-4305, SciTePress, pages 9-16. DOI: 10.5220/0001049100090016

@conference{biodevices08,
author={B. Allart. and B. Marhic. and L. Delahoche. and O. Rémy{-}Néris. and A. {M. Jolly{-}Desodt}.},
title={OMNIDIRECTIONAL VISION TACKING SYSTEM BASED ON KALMAN FILTERING AND OMNICAMSHIFT},
booktitle={Proceedings of the First International Conference on Biomedical Electronics and Devices (BIOSTEC 2008) - Volume 2: BIODEVICES},
year={2008},
pages={9-16},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001049100090016},
isbn={978-989-8111- 17-3},
issn={2184-4305},
}

TY - CONF

JO - Proceedings of the First International Conference on Biomedical Electronics and Devices (BIOSTEC 2008) - Volume 2: BIODEVICES
TI - OMNIDIRECTIONAL VISION TACKING SYSTEM BASED ON KALMAN FILTERING AND OMNICAMSHIFT
SN - 978-989-8111- 17-3
IS - 2184-4305
AU - Allart, B.
AU - Marhic, B.
AU - Delahoche, L.
AU - Rémy-Néris, O.
AU - M. Jolly-Desodt, A.
PY - 2008
SP - 9
EP - 16
DO - 10.5220/0001049100090016
PB - SciTePress

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