Real-Time Human Action Recognition with a Low-Cost RGB Camera and Mobile Robot Platform

Abstract

Human action recognition is an important research area in the field of computer vision that can be applied in surveillance, assisted living, and robotic systems interacting with people. Although various approaches have been widely used, recent studies have mainly focused on deep-learning networks using Kinect camera that can easily generate data on skeleton joints using depth data, and have achieved satisfactory performances. However, their models are deep and complex to achieve a higher recognition score; therefore, they cannot be applied to a mobile robot platform using a Kinect camera. To overcome these limitations, we suggest a method to classify human actions in real-time using a single RGB camera, which can be applied to the mobile robot platform as well. We integrated two open-source libraries, i.e., OpenPose and 3D-baseline, to extract skeleton joints on RGB images, and classified the actions using convolutional neural networks. Finally, we set up the mobile robot platform including an NVIDIA JETSON XAVIER embedded board and tracking algorithm to monitor a person continuously. We achieved an accuracy of 70% on the NTU-RGBD training dataset, and the whole process was performed on an average of 15 frames per second (FPS) on an embedded board system.

Keywords

• real-time
• human action recognition
• mobile robot
• embedded board
• RGB camera