Computer Engineering and Applications ›› 2021, Vol. 57 ›› Issue (10): 163-172.DOI: 10.3778/j.issn.1002-8331.2008-0245

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Design of Wheelchair Following System Based on Computer Vision

LI Yan, TANG Daming, ZHOU Yingliang, DAI Qingyu   

  1. 1.School of Electrical and Control Engineering, Shaanxi University of Science and Technology, Xi’an 710021, China
    2.Shaanxi Agricultural Products Processing Technology Research Institute, Xi’an 710021, China
  • Online:2021-05-15 Published:2021-05-10



  1. 1.陕西科技大学 电气与控制工程学院,西安 710021
    2.陕西农产品加工技术研究院,西安 710021


In order to solve the problem of increasing number of elderly people and lack of nursing staff, an intelligent wheelchair system with automatic follow-up function is designed. After the system obtains image information through the computer vision sensor, it firstly uses the background subtraction method of adaptive Gaussian mixture modeling to complete target detection, then adopts particle filter-based TLD(Tracking-Learning-Detection) tracking algorithm based on multi-feature fusion to complete target tracking, and finally combines the binocular positioning algorithm to get the three-dimensional position of target in camera coordinate system. After that, the speed and direction of wheelchair are controlled according to target position, so that the wheelchair and the target person maintain a set distance and relative orientation to complete the follow-up of target. Experimental results show that the proposed system can not only complete the real-time following of user, but also can realize the safe avoidance of obstacles.

Key words: computer vision, intelligent wheelchair, automatic following, target tracking



关键词: 计算机视觉, 智能轮椅, 自动跟随, 目标跟踪