期刊名称：International Journal on Smart Sensing and Intelligent Systems
印刷版ISSN：1178-5608
出版年度：2014
卷号：7
期号：2
页码：630-643
出版社：Massey University
摘要：Robotic wheelchairs should move among humans without bringing about uncomfortable situation to them. This paper tackles this issue to propose a method of navigation in indoor environments with presence of humans based on the observation of head information obtained from color and range images. Initially head regions in the color image are tracked and their orientations are estimated using AdaBoost based particle filter trained to classify multiple-pose faces. Then the head orientation data are integrated with the head position data in the range image to determine the wheelchair motion so that it can smoothly move among humans. Experimental results demonstrate the feasibility of the proposed approach
