Robust real-time vision for a personal service robot

We address visual perception for personal service robotic systems in the home. We start by identifying the main functional modules and their relationships. This includes self-localization, long range people detection and tracking, and short range human interaction. We then discuss various vision based tasks within each of these modules, along with our implementations of these tasks. Typical results are shown. Finally, Stevi v.1, a demonstration computer vision subsystem that performs real-time people detection and tracking from stereo color video, illustrates our modular and scalable approach to integrating modules into working systems.