Autonomous Wheelchair – Object Measurement

We present initial results of developing an autonomous wheelchair, which is a more complex task due to the nature of the vehicle, the environments in which it operates and the large number and types of obstacles that it must handle. Determining the free space is a fundamental underline to the navigation in unknown environments. In this paper we present results in sensor fusion between a LiDAR and a camera in order to provide real-time information of object measurement required for navigation. We explored the accuracy of determining obstacles' dimensions, ground that is safe to travel and walls.