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

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.