# From Detection to Action Recognition: An Edge-Based Pipeline for Robot Human Perception

arXiv: https://arxiv.org/abs/2312.03477 · HTML: https://mlsanity.com/paper/2312.03477/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 12 of its 28 references that are in the map.
- First posted on arXiv 6 Dec 2023.

## Builds on (most cited first, 12 of 12)

- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [FaceNet: A Unified Embedding for Face Recognition and Clustering](https://mlsanity.com/paper/1503.03832/) (2015)
- [The Kinetics Human Action Video Dataset](https://mlsanity.com/paper/1705.06950/) (2017)
- [SlowFast Networks for Video Recognition](https://mlsanity.com/paper/1812.03982/) (2018)
- [Is Space-Time Attention All You Need for Video Understanding?](https://mlsanity.com/paper/2102.05095/) (2021)
- [OpenPose: Realtime Multi-Person 2D Pose Estimation using Part Affinity Fields](https://mlsanity.com/paper/1812.08008/) (2018)
- [A Closer Look at Spatiotemporal Convolutions for Action Recognition](https://mlsanity.com/paper/1711.11248/) (2017)
- [NTU RGB+D: A Large Scale Dataset for 3D Human Activity Analysis](https://mlsanity.com/paper/1604.02808/) (2016)
- [X3D: Expanding Architectures for Efficient Video Recognition](https://mlsanity.com/paper/2004.04730/) (2020)
- [Deep Cosine Metric Learning for Person Re-Identification](https://mlsanity.com/paper/1812.00442/) (2018)
- [Action Recognition: From Static Datasets to Moving Robots](https://mlsanity.com/paper/1701.04925/) (2017)
- [3D Human Action Recognition with Siamese-LSTM Based Deep Metric Learning](https://mlsanity.com/paper/1807.02131/) (2018)

## Built on by (most cited first, 1 of 1)

- [KRAST: Knowledge-Augmented Robotic Action Recognition with Structured Text for Vision-Language Models](https://mlsanity.com/paper/2509.16452/) (2025)

## Abstract (arXiv)

Mobile service robots are proving to be increasingly effective in a range of applications, such as healthcare, monitoring Activities of Daily Living (ADL), and facilitating Ambient Assisted Living (AAL). These robots heavily rely on Human Action Recognition (HAR) to interpret human actions and intentions. However, for HAR to function effectively on service robots, it requires prior knowledge of human presence (human detection) and identification of individuals to monitor (human tracking). In this work, we propose an end-to-end pipeline that encompasses the entire process, starting from human detection and tracking, leading to action recognition. The pipeline is designed to operate in near real-time while ensuring all stages of processing are performed on the edge, reducing the need for centralised computation. To identify the most suitable models for our mobile robot, we conducted a series of experiments comparing state-of-the-art solutions based on both their detection performance and efficiency. To evaluate the effectiveness of our proposed pipeline, we proposed a dataset comprising daily household activities. By presenting our findings and analysing the results, we demonstrate the efficacy of our approach in enabling mobile robots to understand and respond to human behaviour in real-world scenarios relying mainly on the data from their RGB cameras.