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Experimental Evaluation of Road-Crossing Decisions by Autonomous Wheelchairs against Environmental Factors
  • +2
  • Franca Corradini,
  • Carlo Grigioni,
  • Alessandro Antonucci,
  • Jérôme Guzzi,
  • Francesco Flammini
Franca Corradini
Sciences and Arts of Southern, IDSIA USI, SUPSI University of Applied
Carlo Grigioni
Sciences and Arts of Southern, IDSIA USI, SUPSI University of Applied
Alessandro Antonucci
Sciences and Arts of Southern, IDSIA USI, SUPSI University of Applied
Jérôme Guzzi
Sciences and Arts of Southern, IDSIA USI, SUPSI University of Applied
Francesco Flammini
Sciences and Arts of Southern, IDSIA USI, SUPSI University of Applied

Corresponding Author:[email protected]

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Abstract

Safe road crossing by autonomous wheelchairs can be affected by several environmental factors such as adverse weather conditions influencing the accuracy of artificial vision. Previous studies have addressed experimental evaluation of multi-sensor information fusion to support road-crossing decisions in autonomous wheelchairs. In this study, we focus on the fine-tuning of tracking performance and on its experimental evaluation against outdoor environmental factors such as fog, rain, darkness, etc. It is rather intuitive that those factors can negatively affect the tracking performance; therefore our aim is to provide an approach to quantify their effects in the reference scenario, in order to detect conditions of unacceptable accuracy. In those cases, warnings can be issued and system can be possibly reconfigured to reduce the reputation of less accurate sensors, and thus improve overall safety. Critical situations can be detected by the main sensors or by additional sensors, e.g., light sensors, rain sensors, etc. Results have been achieved by using an available laboratory dataset and by applying appropriate software filters; they show that the approach can be adopted to evaluate video tracking and event detection robustness against outdoor environmental factors in relevant operational scenarios.
27 May 2024Submitted to TechRxiv
03 Jun 2024Published in TechRxiv