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Figure 2 | Journal of NeuroEngineering and Rehabilitation

Figure 2

From: Evaluation of an intelligent wheelchair system for older adults with cognitive impairments

Figure 2

Summary of software operations performed within the IWS. A) Depth image is produced by the nDepthâ„¢ FPGA; brighter regions are closer to the sensor. B) Top-down occupancy grid (created from the depth image) is used for navigation prompting; white is free space, grey is unknown, small black regions in between the grey and white space are occupied. C) Regions of high disparity are identified and bounded with white rectangles, the zone they occupy is noted. In this case an obstacle occupies the forward-right zone. D) Zones with obstacles occupying them are blocked by the joystickDCLM (Direction Control Logic Module). In this case the forward-right movement is prevented.

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