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Figure 1

From: Real-time realizable mobile imaging photoplethysmography

Figure 1

Overview of the proposed system for HR estimation using a PPGI mounted on a robot; (a) Robotic device based on a turtlebot2 framework with a 3D camera, a laptop and a webcam; (b) SLAM and navigation; (c) Real-time HR estimation via face detection, face skin image extraction, PPGI acquisition; (d) Algorithm flow chart for SLAM and navigation.

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