Gool, ”Vision Based Intelligent Wheelchair Control: the role of vision and inertial sensing

This paper describes ongoing research on vision based mobile robot navigation for wheel chairs. Af-ter a guided tour through a natural environment while taking images at regular time intervals, natural land-marks are extracted to automatically build a topolog-ical map. Later on this map can be used for place recognition and navigation. We use visual servoing on the landmarks to steer the robot. In this paper, we investigate ways to improve the performance by incor-porating inertial sensors.