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Robot Assisted Instantaneous Heart Rate Estimator using Camera based Remote Photoplethysmograpy via Plane-Orthogonal-to-Skin and Finite State Machine

In this paper, we have presented Turtulebot-assisted instantaneous heart rate (HR) estimator using camera based remote photoplethysmography. We used a Turtlebot with a camera to record human face. For the face detection, we used Haar Cascade algorithm. To increase the accuracy of the HR estimation, we combined a plane-orthogonal-to-skin (POS) model with finite state machine (FSM) framework. By combining POS and FSM framework, we achieved 1.08 bpm of MAE, which is the lowest error comparing to the state-of-art methods.