Active view planing for human observation through a RGB-D camera

Human sensing is always an important topic for robotic applications. In this paper, we proposed an active view planning approach for human observation on a mobile robot platform with sensor data processing. The sensor adopted in our research is an inexpensive RGB-D camera. A new measure based on distance and orientation information is introduced to evaluate the quality of the viewpoint when the robot detects the human subject. The result shows that the robot can move to the best viewpoint based on the proposed approach.