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The basic technique involved is stereo vision in order to detect and track persons and robots in the environment. ) it is 22 AMBIENT INTELLIGENCE possible to recognize specific situations and poses (like for example if a person lays down on the ground, or if she is sitting on a table). The general form of this problem presents many difficulties: first of all, object tracking is difficult when many similar objects move in the same space; second, object recognition is generally difficult when the environment and the agents cannot be adequately structured; third, when moving observers are used for monitoring large environments the problem becomes harder since it is necessary to take into account also the noise introduced by the motion of the observer.
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