Path-Oriented-Electric-Wheelchair-Steering-Assistance

• See abstract for research background and see TJOE for full research paper.

Starting from scratch.

• See the bill of materials in appendix of paper for parts used in this project.
• The "backup image" file can be flashed to an sd card using this tutorial or your favorite method.

Adding to an existing system.

• Install the OpenCV library using this tutorial.

Using the scripts.

• Add run command sudo python <script directory> & to etc/profile, use ampersand to run script in background.
• Use sudo raspi-config and switch to "auto login command line" or errors will occur!
• Use live_sidewalk_recogize.py for the intended application described by the research documents.
• Use sidewalkrecognize.py to analyze images and adjust range parameters.
• Use videowatcher.py to see frame by frame if omxplayer isn't working.
• Use vsidewalkrecognize.py to analyze videofiles.

TODO (live_sidewalk_recognize.py):

• Find more graceful way to use onbuttonpress().
• Add cliff detection. When the centroid falls below a certain vertical coordinate.
• Add shadow detection. See article: "Shadow Detection and Removal from a Single Image Using LAB Color Space"
• Improve framerate/optimize.