Control Strategies and Particle Filter for RGB-D Based Human Subject Tracking and Behavior Recognition by a Bio-monitoring Mobile Robot

Our ultimate goal is to develop autonomous mobile home healthcare robots which closely monitor and evaluate the patients’ motor function, and their at-home training therapy process, providing automatically calling for medical personnel in emergency situations. In our previous study, we developed bas...

Full description

Saved in:
Bibliographic Details
Published inIntelligent Robotics and Applications pp. 318 - 329
Main Authors Imamoglu, Nevrez, Nergui, Myagmarbayar, Yoshida, Yuki, Gonzalez, Jose, Yu, Wenwei
Format Book Chapter
LanguageEnglish
Japanese
Published Berlin, Heidelberg Springer Berlin Heidelberg 2013
SeriesLecture Notes in Computer Science
Subjects
contour data
fuzzy control
home healthcare
human behavior recognition
Mobile robot
tracking strategies
Online AccessGet full text
ISBN9783642408519
3642408516
ISSN0302-9743
1611-3349
DOI10.1007/978-3-642-40852-6_33

Cover

Abstract Our ultimate goal is to develop autonomous mobile home healthcare robots which closely monitor and evaluate the patients’ motor function, and their at-home training therapy process, providing automatically calling for medical personnel in emergency situations. In our previous study, we developed basic algorithms for tracking, measuring, and behavior recognition of human subjects by a mobile robot, thus, demonstrated the feasibility of the idea of bio-monitoring home healthcare mobile robots. In this study, in order to realize effective bio-monitoring robots, we investigated 1) color based particle filter subject tracking with proposed depth likelihood integration to control the weights of particles; 2) control schemes for acquiring stable image sources for further human motion analysis, especially, the algorithms for reducing the camera vibration due to the acceleration and deceleration of the robot; 3) human activity recognition using contour data of the tracked human subjects extracted from depth images. Results showed that, depending on depth data can be quite useful as an observation by simplifying state space in 2D rather than 3D state space, and, a fuzzy control algorithm could decrease the vibration due to the acceleration and deceleration. Finally, the human activity recognition could be achieved with a high correct rate, by using geometric parameters extracted from contour data.
AbstractList Our ultimate goal is to develop autonomous mobile home healthcare robots which closely monitor and evaluate the patients’ motor function, and their at-home training therapy process, providing automatically calling for medical personnel in emergency situations. In our previous study, we developed basic algorithms for tracking, measuring, and behavior recognition of human subjects by a mobile robot, thus, demonstrated the feasibility of the idea of bio-monitoring home healthcare mobile robots. In this study, in order to realize effective bio-monitoring robots, we investigated 1) color based particle filter subject tracking with proposed depth likelihood integration to control the weights of particles; 2) control schemes for acquiring stable image sources for further human motion analysis, especially, the algorithms for reducing the camera vibration due to the acceleration and deceleration of the robot; 3) human activity recognition using contour data of the tracked human subjects extracted from depth images. Results showed that, depending on depth data can be quite useful as an observation by simplifying state space in 2D rather than 3D state space, and, a fuzzy control algorithm could decrease the vibration due to the acceleration and deceleration. Finally, the human activity recognition could be achieved with a high correct rate, by using geometric parameters extracted from contour data.
Author Nergui, Myagmarbayar
Yu, Wenwei
Yoshida, Yuki
Imamoglu, Nevrez
Gonzalez, Jose
Author_xml – sequence: 1
  givenname: Nevrez
  surname: Imamoglu
  fullname: Imamoglu, Nevrez
  organization: Medical System Engineering, Graduate School of Engineering, Chiba University, Chiba, Japan
– sequence: 2
  givenname: Myagmarbayar
  surname: Nergui
  fullname: Nergui, Myagmarbayar
  organization: Mechanical Engineering, Chiba University, Chiba, Japan
– sequence: 3
  givenname: Yuki
  surname: Yoshida
  fullname: Yoshida, Yuki
  organization: Medical System Engineering, Chiba University, Chiba, Japan
– sequence: 4
  givenname: Jose
  surname: Gonzalez
  fullname: Gonzalez, Jose
  organization: Research Center for Frontier Medical Engineering, Chiba University, Chiba, Japan
– sequence: 5
  givenname: Wenwei
  surname: Yu
  fullname: Yu, Wenwei
  email: yuwill@faculty.chiba-u.jp
  organization: Medical System Engineering, Graduate School of Engineering, Chiba University, Chiba, Japan
BookMark eNo1kN9OwjAUh6tiIiBv4EVfoHrajna7FBQwwWgAr5tu67AwWtMVE5_A13ZDvTrJd37nT74B6jnvDEI3FG4pgLzLZEo4EQkjCaRjRoTi_AwNeEtOIDlHfSooJZwn2QUatfn_Hs16qA8cGMlkwq_QoGl2AMBkxvroe-pdDL7G6xh0NFtrGqxdiV91iLaoDZ7ZOpqAKx_waj4hD3iiG1PixfGgHV4f850pIt4EXeyt255GJ-Zdf9oubwq_dTZa73D-hTWeWE8OviU-dOFnn9v2wsrnPl6jy0rXjRn91SF6mz1upguyfJk_Te-XZEdlxomkmotK85QWBWQmlVSKFMq8kowJKiSMi0QntKwgZ9KUMkkrCiWAEAbG0DoZIva7t_nofjBB5d7vG0VBdZ5V601x1ZpTJ62q88x_AFYUbYY
ContentType Book Chapter
Copyright Springer-Verlag Berlin Heidelberg 2013
Copyright_xml – notice: Springer-Verlag Berlin Heidelberg 2013
DOI 10.1007/978-3-642-40852-6_33
DatabaseTitleList
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
Computer Science
EISBN 3642408524
9783642408526
EISSN 1611-3349
Editor Liu, Honghai
Lee, Min Cheol
Lee, Jangmyung
Ryu, Jee-Hwan
Editor_xml – sequence: 1
  givenname: Jangmyung
  surname: Lee
  fullname: Lee, Jangmyung
  email: jmlee@pusan.ac.kr
– sequence: 2
  givenname: Min Cheol
  surname: Lee
  fullname: Lee, Min Cheol
  email: mclee@pusan.ac.kr
– sequence: 3
  givenname: Honghai
  surname: Liu
  fullname: Liu, Honghai
  email: Honghai.liu@port.ac.uk
– sequence: 4
  givenname: Jee-Hwan
  surname: Ryu
  fullname: Ryu, Jee-Hwan
  email: jhryu@kut.ac.kr
EndPage 329
GroupedDBID -DT
-GH
-~X
1SB
29L
2HA
2HV
5QI
875
AASHB
ABMNI
ACGFS
ADCXD
AEFIE
ALMA_UNASSIGNED_HOLDINGS
EJD
F5P
FEDTE
HVGLF
LAS
LDH
P2P
RIG
RNI
RSU
SVGTG
VI1
~02
ID FETCH-LOGICAL-j1793-71a36fa381cc09e8717680dbf722616705c4a41df0b27ed748f10d0066e050783
ISBN 9783642408519
3642408516
ISSN 0302-9743
IngestDate Tue Jul 29 19:47:19 EDT 2025
IsPeerReviewed false
IsScholarly false
Language English
Japanese
LinkModel OpenURL
MergedId FETCHMERGED-LOGICAL-j1793-71a36fa381cc09e8717680dbf722616705c4a41df0b27ed748f10d0066e050783
PageCount 12
ParticipantIDs springer_books_10_1007_978_3_642_40852_6_33
PublicationCentury 2000
PublicationDate 2013
PublicationDateYYYYMMDD 2013-01-01
PublicationDate_xml – year: 2013
  text: 2013
PublicationDecade 2010
PublicationPlace Berlin, Heidelberg
PublicationPlace_xml – name: Berlin, Heidelberg
PublicationSeriesSubtitle Lecture Notes in Artificial Intelligence
PublicationSeriesTitle Lecture Notes in Computer Science
PublicationSubtitle 6th International Conference, ICIRA 2013, Busan, South Korea, September 25-28, 2013, Proceedings, Part I
PublicationTitle Intelligent Robotics and Applications
PublicationYear 2013
Publisher Springer Berlin Heidelberg
Publisher_xml – name: Springer Berlin Heidelberg
RelatedPersons Kleinberg, Jon M.
Mattern, Friedemann
Nierstrasz, Oscar
Steffen, Bernhard
Kittler, Josef
Vardi, Moshe Y.
Weikum, Gerhard
Sudan, Madhu
Naor, Moni
Mitchell, John C.
Terzopoulos, Demetri
Pandu Rangan, C.
Kanade, Takeo
Hutchison, David
Tygar, Doug
RelatedPersons_xml – sequence: 1
  givenname: David
  surname: Hutchison
  fullname: Hutchison, David
  organization: Lancaster University, Lancaster, UK
– sequence: 2
  givenname: Takeo
  surname: Kanade
  fullname: Kanade, Takeo
  organization: Carnegie Mellon University, Pittsburgh, USA
– sequence: 3
  givenname: Josef
  surname: Kittler
  fullname: Kittler, Josef
  organization: University of Surrey, Guildford, UK
– sequence: 4
  givenname: Jon M.
  surname: Kleinberg
  fullname: Kleinberg, Jon M.
  organization: Cornell University, Ithaca, USA
– sequence: 5
  givenname: Friedemann
  surname: Mattern
  fullname: Mattern, Friedemann
  organization: ETH Zurich, Zurich, Switzerland
– sequence: 6
  givenname: John C.
  surname: Mitchell
  fullname: Mitchell, John C.
  organization: Stanford University, Stanford, USA
– sequence: 7
  givenname: Moni
  surname: Naor
  fullname: Naor, Moni
  organization: Weizmann Institute of Science, Rehovot, Israel
– sequence: 8
  givenname: Oscar
  surname: Nierstrasz
  fullname: Nierstrasz, Oscar
  organization: University of Bern, Bern, Switzerland
– sequence: 9
  givenname: C.
  surname: Pandu Rangan
  fullname: Pandu Rangan, C.
  organization: Indian Institute of Technology, Madras, India
– sequence: 10
  givenname: Bernhard
  surname: Steffen
  fullname: Steffen, Bernhard
  organization: University of Dortmund, Dortmund, Germany
– sequence: 11
  givenname: Madhu
  surname: Sudan
  fullname: Sudan, Madhu
  organization: Massachusetts Institute of Technology, USA
– sequence: 12
  givenname: Demetri
  surname: Terzopoulos
  fullname: Terzopoulos, Demetri
  organization: University of California, Los Angeles, USA
– sequence: 13
  givenname: Doug
  surname: Tygar
  fullname: Tygar, Doug
  organization: University of California, Berkeley, USA
– sequence: 14
  givenname: Moshe Y.
  surname: Vardi
  fullname: Vardi, Moshe Y.
  organization: Rice University, Houston, USA
– sequence: 15
  givenname: Gerhard
  surname: Weikum
  fullname: Weikum, Gerhard
  organization: Max-Planck Institute of Computer Science, Saarbrücken, Germany
SSID ssj0002792
ssj0000988170
ssib024821373
Score 1.5583559
Snippet Our ultimate goal is to develop autonomous mobile home healthcare robots which closely monitor and evaluate the patients’ motor function, and their at-home...
SourceID springer
SourceType Publisher
StartPage 318
SubjectTerms contour data
fuzzy control
home healthcare
human behavior recognition
Mobile robot
tracking strategies
Title Control Strategies and Particle Filter for RGB-D Based Human Subject Tracking and Behavior Recognition by a Bio-monitoring Mobile Robot
URI http://link.springer.com/10.1007/978-3-642-40852-6_33
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV3LbtNAFB2lYQNdAAVEeWkW7KJBdmb86IJFW1qqqqkQalFZWWN7HEJJLDk2UvID_CKfw73zsB1aIZWNFVlxPPY9uXPmPs4Q8lZlQQ48oWBcco8JWcQMWJHP4hD-eV7qxVmO_c6T8_DkUpxeBVeDwe9e1VJTp--y9a19Jf9jVTgHdsUu2TtYtv1ROAGfwb5wBAvD8S_yuxlmbcsFjZhmjfXRZau3vN_LSbeWn8t5Of3RaOOrn5Vad1HgatrolP5kJadzTD-sZNU5g-W3Wa4J5tfmetZW65SLNcwsa5dD6APv0Ba_O91bZUb1yWJ0dDzDBL0ub_z88YB9GB3ARJrbbAL4MQwMoeZ6du36J62GY4Uc11Q7AWSBNkvcSZPNtVfSZYSTMgUnZ96GcZco47x8f2YTJedlrevPRm4vC-fa-rEP3IdiI_bhYp-jf0iD6TYVoYXcrG-23WIwE8BayjhXZZx_iJKO3EioWofO7exguAE30Zkb006_0gRuxvBuYxYmnG-RrSgWQ3Jv_-j07IvzdGMRj31uiaPmDHsxKiW2HAJlHU3-y4wSu5LcU4RGN6p7ql5H6G1DuJHj19Tp4hHZxnYain0u8MIfk4Fa7JCHzgDUGmCHPOgpYz4hvyyKaIciClCgDkXUoIgCiqhGEdUoohpF1KKIOhTpSx2KaA9FNF1RSTdRRA2KqEbRU3J5fHRxeMLsniHsO041LPIlDwsJPDTLvD0VRz6sp708LSJYZ_hh5AWZkMLPCy8dRyqPRFz4Xo7EW3kBprSfkeGiXKjnhBZBBlw78EQahQIWAhIuL6TPlSgUrAPCXTJy7zVBL7BMnAQ4WCHhCVgh0VZI0Aov7vTtl-R-h_dXZFhXjXoN7LdO31go_QEyr6ch
linkProvider Library Specific Holdings
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=bookitem&rft.title=Intelligent+Robotics+and+Applications&rft.au=Imamoglu%2C+Nevrez&rft.au=Nergui%2C+Myagmarbayar&rft.au=Yoshida%2C+Yuki&rft.au=Gonzalez%2C+Jose&rft.atitle=Control+Strategies+and+Particle+Filter+for+RGB-D+Based+Human+Subject+Tracking+and+Behavior+Recognition+by+a+Bio-monitoring+Mobile+Robot&rft.series=Lecture+Notes+in+Computer+Science&rft.date=2013-01-01&rft.pub=Springer+Berlin+Heidelberg&rft.isbn=9783642408519&rft.issn=0302-9743&rft.eissn=1611-3349&rft.spage=318&rft.epage=329&rft_id=info:doi/10.1007%2F978-3-642-40852-6_33
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0302-9743&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0302-9743&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0302-9743&client=summon