00407nas a2200109 4500008003900000245006900039210006800108100001600176700002200192700001200214856007100226 2006 d00aComputer Vision-Based Terrain Sensors for Blind Wheelchair Users0 aComputer VisionBased Terrain Sensors for Blind Wheelchair Users1 aCoughlan, J1 aManduchi, Roberto1 aShen, H uhttp://users.soe.ucsc.edu/~manduchi/papers/wheelchairICCHP2006.pdf