A Simple Unevenness Detection System Using a Monocular Camera to Ensure Safety of a Handle Type Electric Wheelchair

In this paper, we propose a simple unevenness (bump/dent) detection system using a monocular camera to ensure safety of a handle type electric wheelchair and carry out the quantitative evaluation of a proposal system. In particular, the evaluation in two types of unevenness, three types of approach angle (90?a, 45?a, 0?a) against the unevenness and with or without of installation-calibration error is performed. We show the effectiveness of the proposal system.