RAIS: Towards A Robotic Mapping and Assessment Tool for Indoor Accessibility Using Commodity Hardware
Article No.: 86, Pages 1 - 5
Abstract
Mapping, assessing, and creating personalized routes of indoor spaces for people with disabilities remains a grand challenge in accessibility research. Drawing on recent work in robotics as well as emergent work in smartphone-based mapping, we introduce RAIS (Robotic Accessibility Indoor Scanner), a robotic-based indoor mapping and accessibility assessment system. As a rapid prototype, RAIS is constructed with off-the-shelf components including a vacuum robot, smartphone, and phone gimbal along with a modified version of our previous LiDAR-based accessibility scannar RASSAR. In a preliminary evaluation of three indoor spaces, we demonstrate RAIS’s ability to autonomously scan spaces, produce detailed 3D reconstructions, and find and highlight accessibility issues.
References
[1]
Wilayat Ali, Li Sheng, and Waleed Ahmed. 2021. Robot Operating System-Based SLAM for a Gazebo-Simulated Turtlebot2 in 2d Indoor Environment with Cartographer Algorithm. International Journal of Mechanical and Mechatronics Engineering 15, 3 (Feb. 2021), 149–157. https://publications.waset.org/10011916/robot-operating-system-based-slam-for-a-gazebo-simulated-turtlebot2-in-2d-indoor-environment-with-cartographer-algorithm
[2]
Aniwaa. 2020. FARO Focus Swift. https://www.aniwaa.com/product/3d-scanners/faro-focus-swift/ Accessed: 2024-08-15.
[3]
Apple. 2022. RoomPlan - Augmented Reality. https://developer.apple.com/augmented-reality/roomplan/
[4]
Shaojun Cai, Ashwin Ram, Zhengtai Gou, Mohd Alqama Wasim Shaikh, Yu-An Chen, Yingjia Wan, Kotaro Hara, Shengdong Zhao, and David Hsu. 2024. Navigating Real-World Challenges: A Quadruped Robot Guiding System for Visually Impaired People in Diverse Environments. In Proceedings of the CHI Conference on Human Factors in Computing Systems (Honolulu, HI, USA) (CHI ’24). Association for Computing Machinery, New York, NY, USA, Article 44, 18 pages. https://doi.org/10.1145/3613904.3642227
[5]
Yanbo Chen, Zhengzhe Xu, Zhuozhu Jian, Gengpan Tang, Liyunong Yang, Anxing Xiao, Xueqian Wang, and Bin Liang. 2023. Quadruped Guidance Robot for the Visually Impaired: A Comfort-Based Approach. In 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, London, United Kingdom, 12078–12084. https://doi.org/10.1109/ICRA48891.2023.10160854
[6]
Teresa Chiu and Rosemary Oliver. 2006. Factor analysis and construct validity of the SAFER-HOME. OTJR: Occupation, Participation and Health 26, 4 (2006), 132–142.
[7]
Daisuke Chugo, Shohei Kawazoe, Sho Yokota, Hiroshi Hashimoto, Takahiro Katayama, Yasuhide Mizuta, and Atsushi Koujina. 2017. Pattern based standing assistance adapted to individual subjects on a robotic walker. In 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). IEEE, Lisbon, 1216–1221. https://doi.org/10.1109/ROMAN.2017.8172459
[8]
Lindy Clemson. 1997. Home Fall Hazards: A Guide to Identifying Fall Hazards in the Homes of Elderly People and an Accompaniment to the Assessment Tool, The Westmead Home Safety Assessment (WeHSA). Co-ordinates Publications.
[9]
Basem M. ElHalawany, Hala M. Abdel-Kader, Adly TagEldeen, Alaa Eldeen Elsayed, and Zaki B. Nossair. 2013. Modified A* algorithm for safer mobile robot navigation. In 2013 5th International Conference on Modelling, Identification and Control (ICMIC). 74–78.
[10]
Jon E. Froehlich, Anke M. Brock, Anat Caspi, João Guerreiro, Kotaro Hara, Reuben Kirkham, Johannes Schöning, and Benjamin Tannert. 2019. Grand challenges in accessible maps. Interactions 26, 2 (Feb. 2019), 78–81. https://doi.org/10.1145/3301657
[11]
João Guerreiro, Daisuke Sato, Saki Asakawa, Huixu Dong, Kris M. Kitani, and Chieko Asakawa. 2019. CaBot: Designing and Evaluating an Autonomous Navigation Robot for Blind People. In The 21st International ACM SIGACCESS Conference on Computers and Accessibility. ACM, Pittsburgh PA USA, 68–82. https://doi.org/10.1145/3308561.3353771
[12]
Mehmet Gunduz, Umit Isikdag, and Melih Basaraner. 2016. A review of recent research in indoor modelling & mapping. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences 41 (2016), 289–294.
[13]
EyeSpy360 Inc.2024. EyeSpy360: 360 Virtual Tour Software. https://www.eyespy360.com/en-us/. Accessed: 2024-08-15.
[14]
HP Inc.2024. HP SitePrint - Robotic Layout Solution. https://www.hp.com/us-en/printers/site-print/layout-robot.html Accessed: 2024-08-15.
[15]
Matterport Inc.2024. Matterport: 3D Capture Platform. https://matterport.com/. Accessed: 2024-08-15.
[16]
Metareal Inc.2024. Metareal: Virtual Tours Made Simple. https://www.metareal.com/. Accessed: 2024-08-15.
[17]
Susanne Iwarsson. 1999. The Housing Enabler: An Objective Tool for Assessing Accessibility. British Journal of Occupational Therapy 62, 11 (Nov. 1999), 491–497. https://doi.org/10.1177/030802269906201104 Publisher: SAGE Publications Ltd STM.
[18]
Nahyun Kwon, Qian Lu, Muhammad Hasham Qazi, Joanne Liu, Changhoon Oh, Shu Kong, and Jeeeun Kim. 2024. AccessLens: Auto-detecting Inaccessibility of Everyday Objects. In Proceedings of the CHI Conference on Human Factors in Computing Systems. 1–17.
[19]
NavVis. 2024. NavVis VLX 3. https://www.navvis.com/vlx-3 Accessed: 2024-08-15.
[20]
U.S. Department of Justice. 2024. 2010 ADA Standards for Accessible Design. https://www.ada.gov/law-and-regs/design-standards/. Accessed: 2024-08-15.
[21]
Hesham Ibrahim Mohamed Ahmed Omara and Khairul Salleh Mohamed Sahari. 2015. Indoor mapping using kinect and ROS. In 2015 International Symposium on Agents, Multi-Agent Systems and Robotics (ISAMSR). IEEE, Putrajaya, Malaysia, 110–116. https://doi.org/10.1109/ISAMSR.2015.7379780
[22]
Alexandre Patry, Claude Vincent, Christian Duval, and Emmanuelle Careau. 2019. Psychometric properties of home accessibility assessment tools: A systematic review. Canadian Journal of Occupational Therapy 86, 3 (June 2019), 172–184. https://doi.org/10.1177/0008417418824731
[23]
Siyou Pei, Alexander Chen, Chen Chen, Franklin Mingzhe Li, Megan Fozzard, Hao-Yun Chi, Nadir Weibel, Patrick Carrington, and Yang Zhang. 2023. Embodied Exploration: Facilitating Remote Accessibility Assessment for Wheelchair Users with Virtual Reality. In Proceedings of the 25th International ACM SIGACCESS Conference on Computers and Accessibility (New York, NY, USA) (ASSETS ’23). Association for Computing Machinery, New York, NY, USA, Article 37, 17 pages. https://doi.org/10.1145/3597638.3608410
[24]
Marnie Renda and Jennifer E Lape. 2018. Feasibility and effectiveness of telehealth occupational therapy home modification interventions. International journal of telerehabilitation 10, 1 (2018), 3.
[25]
Marvelmind Robotics. 2024. Automated Scanning and Inspection. https://marvelmind.com/solution/automated_scanning_and_inspection/ Accessed: 2024-08-15.
[26]
Bruno M. F. da Silva, Rodrigo S. Xavier, and Luiz M. G. Gonçalves. 2019. Mapping and Navigation for Indoor Robots under ROS: An Experimental Analysis. https://doi.org/10.20944/preprints201907.0035.v1
[27]
Walter C. S. S. Simões, Guido S. Machado, André M. A. Sales, Mateus M. de Lucena, Nasser Jazdi, and Vicente F. de Lucena. 2020. A Review of Technologies and Techniques for Indoor Navigation Systems for the Visually Impaired. Sensors 20, 14 (2020). https://doi.org/10.3390/s20143935
[28]
Julian Striegl, Claudia Loitsch, Jan Schmalfuss-Schwarz, and Gerhard Weber. 2020. Analysis of Indoor Maps Accounting the Needs of People with Impairments. In Computers Helping People with Special Needs, Klaus Miesenberger, Roberto Manduchi, Mario Covarrubias Rodriguez, and Petr Peňáz (Eds.). Springer International Publishing, Cham, 305–314.
[29]
Xia Su, Ruiqi Chen, Richard Weiye Zhang, Jingwei Ma, and Jon E. Froehlich. 2024. A Demo of DIAM: Drone-based Indoor Accessibility Mapping. In Extended Abstract Proceedings of the 2024 ACM Symposium on User Interface Software and Technology (Pittsburgh, PA). 3 pages.
[30]
Xia Su, Kaiming Cheng, Han Zhang, Jaewook Lee, Wyatt Olson, and Jon E. Froehlich. 2023. A Demonstration of RASSAR: Room Accessibility and Safety Scanning in Augmented Reality. In The 25th International ACM SIGACCESS Conference on Computers and Accessibility. ACM, New York NY USA, 1–4. https://doi.org/10.1145/3597638.3614504
[31]
Xia Su, Han Zhang, Kaiming Cheng, Jaewook Lee, Qiaochu Liu, Wyatt Olson, and Jon E Froehlich. 2024. RASSAR: Room Accessibility and Safety Scanning in Augmented Reality. In Proceedings of the CHI Conference on Human Factors in Computing Systems. 1–17.
[32]
Bonnielin K. Swenor, Andrea V. Yonge, Victoria Goldhammer, Rhonda Miller, Laura N. Gitlin, and Pradeep Ramulu. 2016. Evaluation of the Home Environment Assessment for the Visually Impaired (HEAVI): an instrument designed to quantify fall-related hazards in the visually impaired. BMC Geriatrics 16, 1 (Dec. 2016), 214. https://doi.org/10.1186/s12877-016-0391-2
[33]
Sumegh Pramod Thale, Mihir Mangesh Prabhu, Pranjali Vinod Thakur, and Pratik Kadam. 2020. ROS based SLAM implementation for Autonomous navigation using Turtlebot. ITM Web of Conferences 32 (2020), 01011. https://doi.org/10.1051/itmconf/20203201011 Publisher: EDP Sciences.
[34]
Machiko R. Tomita, Sumandeep Saharan, Sheela Rajendran, Susan M. Nochajski, and Jo A. Schweitzer. 2014. Psychometrics of the Home Safety Self-Assessment Tool (HSSAT) to Prevent Falls in Community-Dwelling Older Adults. The American Journal of Occupational Therapy 68, 6 (Nov. 2014), 711–718. https://doi.org/10.5014/ajot.2014.010801
[35]
P. van Turennout, G. Honderd, and L. van Schelven. 1992. Wall-following control of a mobile robot. In Proceedings 1992 IEEE International Conference on Robotics and Automation. IEEE Computer Society, Los Alamitos, CA, USA, 280,281,282,283,284,285. https://doi.org/10.1109/ROBOT.1992.220250
[36]
Chris Yoon, Ryan Louie, Jeremy Ryan, MinhKhang Vu, Hyegi Bang, William Derksen, and Paul Ruvolo. 2019. Leveraging Augmented Reality to Create Apps for People with Visual Disabilities: A Case Study in Indoor Navigation. In Proceedings of the 21st International ACM SIGACCESS Conference on Computers and Accessibility (Pittsburgh, PA, USA) (ASSETS ’19). Association for Computing Machinery, New York, NY, USA, 210–221. https://doi.org/10.1145/3308561.3353788
[37]
Khalid Yousif, Alireza Bab-Hadiashar, and Reza Hoseinnezhad. 2015. An Overview to Visual Odometry and Visual SLAM: Applications to Mobile Robotics. Intelligent Industrial Systems 1, 4 (Dec. 2015), 289–311. https://doi.org/10.1007/s40903-015-0032-7
[38]
Ying Zhang, Juan Liu, Gabriel Hoffmann, Mark Quilling, Kenneth Payne, Prasanta Bose, and Andrew Zimdars. 2010. Real-time indoor mapping for mobile robots with limited sensing. In The 7th IEEE International Conference on Mobile Ad-hoc and Sensor Systems (IEEE MASS 2010). 636–641. https://doi.org/10.1109/MASS.2010.5663778 ISSN: 2155-6814.
[39]
Qin Zou, Qin Sun, Long Chen, Bu Nie, and Qingquan Li. 2022. A Comparative Analysis of LiDAR SLAM-Based Indoor Navigation for Autonomous Vehicles. IEEE Transactions on Intelligent Transportation Systems 23, 7 (July 2022), 6907–6921. https://doi.org/10.1109/TITS.2021.3063477
Index Terms
- RAIS: Towards A Robotic Mapping and Assessment Tool for Indoor Accessibility Using Commodity Hardware
Recommendations
A Demo of DIAM: Drone-based Indoor Accessibility Mapping
UIST Adjunct '24: Adjunct Proceedings of the 37th Annual ACM Symposium on User Interface Software and TechnologyIndoor mapping data is crucial for navigation and accessibility, yet such data are widely lacking due to the manual labor and expense of data collection, especially for larger indoor spaces. In this demo paper, we introduce Drone-based Indoor ...
Robotic wheelchair moving with caregiver collaboratively
ICIC'11: Proceedings of the 7th international conference on Advanced Intelligent Computing Theories and Applications: with aspects of artificial intelligenceThis paper introduces a robotic wheelchair that can automatically move alongside a caregiver. Because wheelchair users are often accompanied by caregivers, it is vital to consider how to reduce a caregiver's load and support their activities, while ...
IBeaconMap: Automated Indoor Space Representation for Beacon-Based Wayfinding
Computers Helping People with Special NeedsAbstractTraditionally, there have been few options for navigational aids for the blind and visually impaired (BVI) in large indoor spaces. Some recent indoor navigation systems allow users equipped with smartphones to interact with low cost Bluetooth-...
Comments
Please enable JavaScript to view thecomments powered by Disqus.Information & Contributors
Information
Published In
October 2024
1475 pages
ISBN:9798400706776
DOI:10.1145/3663548
Copyright © 2024 Owner/Author.
Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.
Sponsors
Publisher
Association for Computing Machinery
New York, NY, United States
Publication History
Published: 27 October 2024
Check for updates
Author Tags
Qualifiers
- Poster
- Research
- Refereed limited
Funding Sources
- Center for Research and Education on Accessible Technology and Experiences, University of Washington
Conference
ASSETS '24
Sponsor:
ASSETS '24: The 26th International ACM SIGACCESS Conference on Computers and Accessibility
October 27 - 30, 2024
NL, St. John's, Canada
Acceptance Rates
Overall Acceptance Rate 436 of 1,556 submissions, 28%
Contributors
Other Metrics
Bibliometrics & Citations
Bibliometrics
Article Metrics
- 0Total Citations
- 26Total Downloads
- Downloads (Last 12 months)26
- Downloads (Last 6 weeks)26
Reflects downloads up to 24 Nov 2024
Other Metrics
Citations
View Options
Login options
Check if you have access through your login credentials or your institution to get full access on this article.
Sign inFull Access
View options
View or Download as a PDF file.
PDFeReader
View online with eReader.
eReaderHTML Format
View this article in HTML Format.
HTML Format