End -User Personalization of a Smart Home and Companion Robot

Abstract: Care issues and costs associated with an increasing elderly population are becoming a major concern for many countries. The use of assistive robots in "smart-home" environments has been suggested as a possible partial solution to these concerns. A challenge is the personalization of the robot to meet the changing needs of the elderly person over time. My project proposes efficient human movement detection based on background subtraction using dynamic threshold approach. To evaluate these issues, a commercially available autonomous robot has been deployed to detect moving objects using Background Subtraction algorithm and to identify it as a human using PIR sensor and track his movement using Kalman filter algorithm and assist the elderly person at home.

Keywords: CYBORG, Home Assisting Robot, Kalman Filter.