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보급형 휠체어 계단 이동 보조기기의 능동 계단 진입을 위한 계단 형상 추정 기법에 대한 연구
엄수홍(Su-Hong Eom),류중현(Jung-Hwun Ryu),박나연(Na-Yeon Park),이철우(Chol-U Lee),이응혁(Eung-Hyuk Lee) 대한전기학회 2021 대한전기학회 학술대회 논문집 Vol.2021 No.10
The paper is the method that a assistive movement device based on platform of separable type of caterpillar for moving a wheelchair enables to perceive stairs figure autonomously. The proposed recognition method is effective with using RGBD camera and LiDAR based sensors but these sensors are not cheep enough to distribute the assistive movement device at low price. Therefore, we use mechanical structure of the caterpillar based on low cost camera and ultrasonic sensors used in an assistive parking system of vehicle for estimating stairs shape. The method estimates height and landing of stairs over 90 percent accuracy, which yields gradient of staircase.