We propose a system that measures respiration rates using a sensor robot robot to improve a system that controls a nap environment. The proposed system measures respiration rates by applying inter frame difference method to IR images obtained by the robot. We conducted verification experiments to verify the accuracy of this system. The experimental results showed that this system can measure the respiration rates accurately despite several positional relationships and changes in lighting conditions. As a next step, we need to improve this system by introducing KinectV2 in order to realize a nap environment control system used in offices.
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