Mapping a Room by a Watching over Robot and an Application to an Exit Alarm

Abstract

We have developed an exit alarm set automatically by cameras mounted on a robot. Our aim is more accurate detection of getting up motion. In a case of using cameras, a problem is that they take only vague infrared light images in a dark room. To resolve the problem, we use information obtained by fine visible light images while the room is light. Our method sets a detection area automatically, after it detects a bed from maps of the room by using visible light images. In the dark room, we use a getting up motion model based on the detection area. Experimental results showed our robot could locate the bed by an 8.8[cm] error. A getting up detection ratio is 95.7%.