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Because a large number of accidents with electric  wheelchairs are due to operational errors, steering assistance systems for  wheelchairs have been studied in a variety of ways. One of the basic systems  is 3-D obstacle detection around the wheelchair. One method uses a stereo  camera for detecting obstacles by image processing. However, this method is  less reliable under varying light conditions. A laser range sensor is  another useful device for obstacle detection. However, it requires a complex  swinging mechanism for 3-D positioning which makes the measuring time too  long. Therefore, this paper presents a 3-D obstacle detection system for  electric wheelchairs using a 2-D laser range sensor. We set up only one 2-D  laser range sensor over the wheelchair, and attached mirrors around it to  reflect the laser light obliquely downwards. Then, we gathered obstacle  points while the electric wheelchair was moving and made a 3-D obstacle map  to assist steering. We built a prototype device and confirmed by  experimentation that it is able to detect obstacles in 3-D.

3-D Obstacle Detection Using Laser Range Finder with Polygonal Mirror for Powered Wheelchair