Robust real-time vision for a personal service robot

Authors:
Gérard Medioni;Alexandre R. J. François;Matheen Siddiqui;Kwangsu Kim;Hosub Yoon
Affiliations:
Institute for Robotics and Intelligent Systems, Viterbi School of Engineering, University of Southern California, USA;Institute for Robotics and Intelligent Systems, Viterbi School of Engineering, University of Southern California, USA;Institute for Robotics and Intelligent Systems, Viterbi School of Engineering, University of Southern California, USA;Institute for Robotics and Intelligent Systems, Viterbi School of Engineering, University of Southern California, USA;Electronics and Telecommunications Research Institute, Republic of Korea
Venue:
Computer Vision and Image Understanding
Year:
2007

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Abstract

We address visual perception for personal service robotic systems in the home. We start by identifying the main functional modules and their relationships. This includes self-localization, long range people detection and tracking, and short range human interaction. We then discuss various vision based tasks within each of these modules, along with our implementations of these tasks. Typical results are shown. Finally, Stevi v.1, a demonstration computer vision subsystem that performs real-time people detection and tracking from stereo color video, illustrates our modular and scalable approach to integrating modules into working systems.