How it works
A computer with a connected webcam runs a python server that analyzes the video input using OpenCV and our image segmentation algorithm. The server analyzes the gaze direction and converts it into desired movements. Looking forward or up means stop, down means forward, left means left, and right means right. This movement data is encoded and sent over a TCP socket. The client that receives this data is the wheelchair attachment. The attachment consists of an ESP32 that receives the movement data and synchronously moves servos to move the joystick in the desired direction.