Robust Real-Time Vision Modules for a Personal Service Robot

摘要

We address visual perception for a personal service robot in the Intelligent Home environment. We identify key visual functionalities necessary for the robot to perform its activities. They include people detection and identification, gesture recognition, self-localization in the 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 propose solutions to the different vision tasks, and present our implementation within the framework, along with preliminary results.