Autonomous monitoring framework with fallen person pose estimation and vital sign detection

This paper describes a monitoring system based on the cooperation of a surveillance sensor and a mobile robot. Using a depth camera which acts as the surveillance sensor, the system estimates the pose and orientation of a person utilizing a skeleton-based algorithm. When the person fell down, the sensor sends the person's pose and orientation information to the mobile robot. The robot determines the possible movements and strategies for reaching the fallen person. The robot then approaches the person and checks the vital condition whether the person is breathing, and the recognition result is notified to a hand-held device. Experiments on our monitoring system confirm a successful series of the autonomous operations.