A Transfer Learning Approach to Surface Detection for Accessible Routing for Wheelchair Users

Valeria Mokrenko, Haoxiang Yu, Vaskar Raychoudhury, Janick Edinger, Roger O. Smith, Md. Osman Gani

Abstract: The nature of the surface has a significant effect on how wheelchair users experience locomotion. The preferred surfaces for wheeled mobility must be even, firm and smooth while generating adequate friction. The development of accessible road maps that include ground conditions is therefore of utmost importance. Our prior work has shown how such maps can be created using surface-induced vibration data collected by motion sensors embedded in smartphones and then classifying them with machine learning algorithms. To make data collection scalable, participatory crowd-sensing can be used, where users collect and transmit sensor data while traveling on wheelchairs. The complexity here is that wheelchairs widely vary in type (manual, power-assist, power), weight, number and nature of wheels, therefore the sensor data generated by different wheelchairs varies greatly. Collecting training data on each individual wheelchair type to develop classification models is not feasible. To address this problem, in this paper we explore the possibility of transferring knowledge from known wheelchairs to unknown types. We develop a transfer learning algorithm to classify 15 surfaces with minimal training data from different wheelchairs. Our experiments with 47 subjects show that surface classification knowledge, learned from sensor data generated by manual wheelchairs, can be transferred to a power wheelchair with up to 90.02% accuracy. This allows crowd-sensing to be used effectively for data collection for generating accessible route maps. We integrate our transfer learning approach into our system for accessible routing, which we developed in previous work.