Safe Drive Support System for Electric Wheelchairs Based on Road Surface Recognition Using Depth Camera

We propose an obstacle detection and road surface recognition system utilizing a depth camera installed in a position looking down on the electric wheelchair. The system detects grooves by comparing the depth information obtained from the depth camera with the ground level. However, the detection results may include noise or safe areas such as drainage holes [1]. The system employs morphological transformations to remove small regions, taking into account the contact area of the front wheels of the wheelchair. The electric wheelchair is then automatically stopped in accordance with the detection results to prevent accidents. The effectiveness of the proposed system was verified through driving experiments using an electric wheelchair.