Toward low-cost vision-based 2D localisation systems for applications in rehabilitation robotics

In this paper we illustrate the main features of a vision-based 2D localisation system, endowed with the real-time capability of estimating the location of active light-emitting markers disposed on a horizontal plane. The vision-based system revolves around using an inexpensive, off-the-shelf web-camera under computer control: the system is simple to install and operate, yet accurate to a level which is acceptable in a range of applications. Specifically, we describe how we intend to exploit the localisation system in an application whose ultimate goal is to support motor-impaired users in the approach to a specific configuration with their mobility aid, e.g., an electric wheelchair. To serve this application, the vision-based localisation system is integrated in a Human-Machine-Interface, built around an handheld PC, which aims at providing the driver with a "top-view" representation of the scene. In our preliminary experiments, the perceptual enhancement is shown beneficial in increasing the docking accuracy up to few millimeters and tenths of degrees from the "target" configuration.