Falls are the leading cause of injuries and death in elderly individuals who live alone at home. The core service of assistive living technology is to monitor elders’ activities through wearable devices, ambient sensors, and vision systems. Vision systems are among the best solutions, as their implementation and maintenance costs are the lowest. However, current vision systems are limited in their ability to handle cluttered environments, occlusion, illumination changes throughout the day, and monitoring without illumination. To overcome these issues, this paper proposes a 24/7 monitoring system for elders that uses retroreflective tape fabricated as part of conventional clothing, monitored through low-cost infrared (IR) cameras fixed in the living environment. IR camera records video even when there are changes in illumination or zero luminance. For classification among clutter and occlusion, the tape is considered as a blob instead of a human silhouette; the orientation angle, fitted through ellipse modeling, of the blob in each frame allows classification that detects falls without pretrained data. System performance was tested using subjects in various age groups and “fall” or “non-fall” were detected with 99.01% accuracy.
Probabilistic Strategies for Pursuit in Cluttered Environments with Multiple Robots