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This paper is concerned with the methods developed for extending the capabilities of a spherical vision camera system to allow detection of surrounding objects and whether or not they pose a danger for movement in that direction during autonomous navigation of a power wheelchair. A Point Grey Research (PGR) Ladybug2 spherical vision camera system was attached to the power wheelchair for surrounding...
Cannulation of small retinal vessels is often prohibitively difficult for surgeons, since physiological tremor often exceeds the narrow diameter of the vessel (40-120 μm). Using an active handheld micromanipulator, we introduce an image-guided robotic system that reduces tremor and provides smooth, scaled motion during the procedure. The micromanipulator assists the surgeon during the approach, puncture,...
This paper is concerned with the estimation of the height and width of freespace based on a Bayesian Recursive (BR) algorithm for an autonomous wheelchair using a stereoscopic camera system for disabled people. A 2D distance map for the purpose of freespace estimation is converted from a 3D point map using geometric projection and computation. The comparison of this 2D map to a 2D map obtained from...
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