Distributed Visual Processing for a Home Visual Sensor Network

摘要

We address issues dealing with distributed visual processing for a personal service robot in the Intelligent Home environment. We propose an efficient and reliable framework to organize and coordinate the vision sensor nodes: fixed cameras mounted on walls, and camera(s) on the mobile robot. We also propose key visual functionalities necessary for the robot to perform its activities. They include people detection and identification, action recognition, gesture recognition, and self-localization. We propose solutions to the different vision tasks, and present our implementation within this framework, validated with experimental results.