Comparative Study of ORB-SLAM2 and IR-Based Revolution Counting with Ultrasonic Obstacle Avoidance for Autonomous Wheelchair Navigation

Shreyas Suresh Anchan, Giriprasath P, Lohith M, Rahul M, Sharath Kumar Y N, Satish B A

2024

Abstract

Wheelchairs are crucial to the mobility of people with disabilities. Conventional manual wheelchairs have come a long way to the powered and smart designs that allow for different types of controls. Nevertheless, indoor navigation and evasion of obstacles is a challenge to most users, especially to those with disabilities on powered wheelchairs. With technological advancement, the use of autonomous systems has gotten wider scope incorporating both external and internal spaces. Moreover, nowadays use of expensive lidars is used for indoor navigation but that makes the entire wheelchair costly. To reduce the cost use of stereo cameras or monocular cameras started for indoor mapping. ORB-SLAM2 is an algorithm where VSLAM works using a monocular camera because of which the cost of the wheelchair manufacture reduces.

Paper Citation

in Harvard Style

Anchan S., P G., M L., M R., Y N S. and B A S. (2024). Comparative Study of ORB-SLAM2 and IR-Based Revolution Counting with Ultrasonic Obstacle Avoidance for Autonomous Wheelchair Navigation. In Proceedings of the 2nd International Conference on Intelligent and Sustainable Power and Energy Systems - Volume 1: ISPES; ISBN 978-989-758-756-6, SciTePress, pages 35-39. DOI: 10.5220/0013575300004639

in Bibtex Style

@conference{ispes24,
author={Shreyas Anchan and Giriprasath P and Lohith M and Rahul M and Sharath Kumar Y N and Satish B A},
title={Comparative Study of ORB-SLAM2 and IR-Based Revolution Counting with Ultrasonic Obstacle Avoidance for Autonomous Wheelchair Navigation},
booktitle={Proceedings of the 2nd International Conference on Intelligent and Sustainable Power and Energy Systems - Volume 1: ISPES},
year={2024},
pages={35-39},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013575300004639},
isbn={978-989-758-756-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 2nd International Conference on Intelligent and Sustainable Power and Energy Systems - Volume 1: ISPES
TI - Comparative Study of ORB-SLAM2 and IR-Based Revolution Counting with Ultrasonic Obstacle Avoidance for Autonomous Wheelchair Navigation
SN - 978-989-758-756-6
AU - Anchan S.
AU - P G.
AU - M L.
AU - M R.
AU - Y N S.
AU - B A S.
PY - 2024
SP - 35
EP - 39
DO - 10.5220/0013575300004639
PB - SciTePress