Development of a Breathing Detection Robot for a Monitoring System

This paper reports the development of a breathing detection method using a mobile robot for a monitoring system. We propose an autonomous monitoring framework based on the combined use of a surveillance sensor and a mobile robot. The system estimates a person's pose using the surveillance sensor. When the person falls down, the mobile robot approaches the person and checks his vital condition. In this paper, we propose a new breathing detection method. The mobile robot detects breathing based on the movement of the person's chest obtained from the depth images of a Kinect sensor. We made a prototype of the monitoring robot, and confirmed that a series of operations were performed automatically.