Egocentric Real-time Workspace Monitoring using an RGB-D Camera

We developed an integrated system for personal workspace monitoring based around an RGB-D sensor. The approach is egocentric, facilitating full flexibility, and operates in real-time, providing object detection and recognition, and 3D trajectory estimation whilst the user undertakes tasks in the workspace. A prototype on-body system developed in the context of work-flow analysis for industrial manipulation and assembly tasks is described. We evaluated on two tasks with multiple users, and results indicate that the method is effective, giving good accuracy performance.

• Dima Damen, Andrew Gee, Walterio Mayol-Cuevas and Andrew Calway. Egocentric Real-time Workspace Monitoring using an RGB-D Camera, IROS 2012. PDF, Video available from here.