Evaluation of Embedded Camera Systems for Autonomous Wheelchairs

Cristian Vilar; Benny Thörnberg; Silvia Krug

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Paper

Evaluation of Embedded Camera Systems for Autonomous Wheelchairs

Topics: Autonomous Vehicles and Automated Driving; Vehicle Environment Perception; Vision and Image Processing

In Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems VEHITS - Volume 1, 76-85, 2019 , Heraklion, Crete, Greece

Authors: Cristian Vilar ; Benny Thörnberg and Silvia Krug

Affiliation: Department of Electronics Design, Mid Sweden University, Holmgatan, Sundsvall and Sweden

Keyword(s): Autonomous Wheelchair, Embedded Camera System, Time-of-Flight, Stereo Camera, RANSAC.

Abstract: Autonomously driving Power Wheelchairs (PWCs) are valuable tools to enhance the life quality of their users. In order to enable truly autonomous PWCs, camera systems are essential. Image processing enables the development of applications for both autonomous driving and obstacle avoidance. This paper explores the challenges that arise when selecting a suitable embedded camera system for these applications. Our analysis is based on a comparison of two well-known camera principles, Stereo-Cameras (STCs) and Time-of-Flight (ToF) cameras, using the standard deviation of the ground plane at various lighting conditions as a key quality measure. In addition, we also consider other metrics related to both the image processing task and the embedded system constraints. We believe that this assessment is valuable when choosing between using STC or ToF cameras for PWCs.

CC BY-NC-ND 4.0

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Paper citation in several formats:

Vilar, C.; Thörnberg, B. and Krug, S. (2019). Evaluation of Embedded Camera Systems for Autonomous Wheelchairs. In Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS; ISBN 978-989-758-374-2; ISSN 2184-495X, SciTePress, pages 76-85. DOI: 10.5220/0007678700760085

@conference{vehits19,
author={Cristian Vilar. and Benny Thörnberg. and Silvia Krug.},
title={Evaluation of Embedded Camera Systems for Autonomous Wheelchairs},
booktitle={Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS},
year={2019},
pages={76-85},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007678700760085},
isbn={978-989-758-374-2},
issn={2184-495X},
}

TY - CONF

JO - Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS
TI - Evaluation of Embedded Camera Systems for Autonomous Wheelchairs
SN - 978-989-758-374-2
IS - 2184-495X
AU - Vilar, C.
AU - Thörnberg, B.
AU - Krug, S.
PY - 2019
SP - 76
EP - 85
DO - 10.5220/0007678700760085
PB - SciTePress