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Mobile robots equipped with camera sensors are required to perceive surrounding humans and their actions for safe and autonomous navigation. In this work, moving humans are the target objects. For robot vision, real-time performance is an important requirement. Therefore, we propose a robot vision system in which the original images captured by a camera sensor are described by optical flow. These images are then used as inputs to a classifier. For classifying images into human and not-human classifications, and the actions, we use a convolutional neural network (CNN), rather than coding invariant features. Moreover, we present a local search window as a novel detector for clipping partial images around target objects in an original image. Through the experiments, we ultimately show that the robot vision system is able to detect moving humans and recognize action in real time.

Optical Flow for Real-Time Human Detection and Action Recognition Based on CNN Classifiers