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

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

22 Citations (Scopus)
393 Downloads (Pure)


We describe 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. The system is evaluated on two tasks with multiple users, and results indicate that the method is effective, giving good accuracy performance.
Original languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Number of pages8
Publication statusPublished - Oct 2012

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