Vision and ToF-based driving assistance for a personal transporter

Personalized localization, navigation and navigation assistance are key issues for almost all aspects of future mobility. We use therefore the SegIT transporter, a new mobile platform based on a Segway Personal Transporter. It is equipped with an onboard video, time-of-flight image and navigation data processing system providing safety and comfort assistance during indoor and outdoor usage. The SegIT transporter is intended as a transportation and assistance platform. It can assist users visiting exhibitions, or during their shopping. In this work we present an approach to video image stabilization on the SegIT transporter, that can estimate and compensate global motion in the image sequence. Furthermore we present a driving assistance system determining obstacles and drivable surfaces.