Locating occupants in preschool classrooms using a multiple RGB-D sensor system

Journal Article

Presented are results demonstrating that, in developing a system with its first objective being the sustained detection of adults and young children as they move and interact in a normal preschool setting, the direct application of the straightforward RGB-D innovations presented here significantly outperforms even far more algorithmically advanced methods relying solely on images. The use of multiple RGB-D sensors by this project for depth-aware object localization economically resolves numerous issues regularly frustrating earlier vision-only detection and human surveillance methods, issues such as occlusions, illumination changes, unexpected postures, atypical morphologies, erratic or unanticipated motions, reflections, and misleading textures and colorations. This multiple RGB-D installation forms the front-end for a multi-step pipeline, the first portion of which seeks to isolate, in situ, 3D renderings of classroom occupants sufficient for a later analysis of their behaviors and interactions. Towards this end, a voxel-based approach to foreground/background separation and an effective adaptation of supervoxel clustering for 3D were developed, and 3D and image-only methods were tested and compared. The project's setting is highly challenging, but then so are its longer term goals: the automated detection of early childhood precursors, ofttimes very subtle, to a number of increasingly common developmental disorders. © 2013 IEEE.

Full Text

Duke Authors

Cited Authors

  • Walczak, N; Fasching, J; Toczyski, WD; Morellas, V; Sapiro, G; Papanikolopoulos, N

Published Date

  • December 1, 2013

Published In

Start / End Page

  • 2166 - 2172

Electronic International Standard Serial Number (EISSN)

  • 2153-0866

International Standard Serial Number (ISSN)

  • 2153-0858

Digital Object Identifier (DOI)

  • 10.1109/IROS.2013.6696659

Citation Source

  • Scopus