iBotGuard: an Internet-based Intelligent Robot security system using Invariant Face Recognition against intruder

One crucial application of intelligent robotic systems is remote surveillance using a security robot. A fundamental need in security is the ability to automatically verify an intruder into a secure or restricted area, to alert remote security personnel, and then to enable them to track the intruder. In this article, we propose an Internet-based security robot system. The face recognition approach possesses "invariant" recognition characteristics, including face recognition where facial expressions, viewing perspectives, three-dimensional poses, individual appearance, and lighting vary and occluding structures are present. The experiment uses a 33.6-kb/s modem Internet connection to successfully remotely control a mobile robot, proving that the streaming technology-based approach greatly improves the "sensibility" of robot teleoperation. This improvement ensures that security personnel can effectively and at low cost use the Internet to remotely control a mobile robot to track and identify a potential intruder.

I. Introduction

In [1], a security guard system is reported on for buildings which utilize an autonomous mobile guard robot. The guard robot is a wheel-type autonomous robot which moves on a planned path, always alert for anything unusual from moving objects or fire to leaking water. The robot is equipped with cameras and while patrolling it, sends images back to the monitoring station. After it finishes patrolling, the robot can automatically return to and dock in a battery recharging station. The intelligent automation laboratory of National Chung Cheng University, Taiwan [2] is also developing a security robot. This robot has five sensory subsystems: fire detection, intruder detection, motor diagnosis, obstacle detection, and environment detection. The client user can supervise these sensory signals through the Internet. Both desktop PCs and personal digital assistants (PDAs) can be used as the user interface for remote surveillance and control system. These security robot systems can increase the security of our homes and offices.