Distributed Visual Processing for a Home Visual Sensor Network

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.

[1]  Ramakant Nevatia,et al.  Bayesian human segmentation in crowded situations , 2003, 2003 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2003. Proceedings..

[2]  Takeo Kanade,et al.  Neural Network-Based Face Detection , 1998, IEEE Trans. Pattern Anal. Mach. Intell..

[3]  Gérard G. Medioni,et al.  Robust real-time vision for a personal service robot , 2007, Comput. Vis. Image Underst..

[4]  Takeo Kanade,et al.  Algorithms for cooperative multisensor surveillance , 2001, Proc. IEEE.

[5]  Mun Wai Lee,et al.  Human Upper Body Pose Estimation in Static Images , 2004, ECCV.

[6]  Paul A. Viola,et al.  Rapid object detection using a boosted cascade of simple features , 2001, Proceedings of the 2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. CVPR 2001.

[7]  Federico Girosi,et al.  Training support vector machines: an application to face detection , 1997, Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[8]  Ramakant Nevatia,et al.  Stochastic human segmentation from a static camera , 2002, Workshop on Motion and Video Computing, 2002. Proceedings..

[9]  Paul A. Viola,et al.  Robust Real-Time Face Detection , 2001, Proceedings Eighth IEEE International Conference on Computer Vision. ICCV 2001.

[10]  Ho-Sub Yoon,et al.  A vision-based user authentication system in robot environments by using semi-biometrics and tracking , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[11]  Alexandros Eleftheriadis,et al.  Automatic face location detection for model-assisted rate control in H.261-compatible coding of video , 1995, Signal Process. Image Commun..

[12]  Takeo Kanade,et al.  A statistical method for 3D object detection applied to faces and cars , 2000, Proceedings IEEE Conference on Computer Vision and Pattern Recognition. CVPR 2000 (Cat. No.PR00662).

[13]  Tomaso A. Poggio,et al.  Example-Based Object Detection in Images by Components , 2001, IEEE Trans. Pattern Anal. Mach. Intell..

[14]  Ramakant Nevatia,et al.  Detection of multiple, partially occluded humans in a single image by Bayesian combination of edgelet part detectors , 2005, Tenth IEEE International Conference on Computer Vision (ICCV'05) Volume 1.