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Wireless Visual Sensor Network Platform for Indoor Localization

And Tracking of a Patient for Rehabilitation Task
Monaem IDOUDIa, b, El-Bay BOURENNANEa, Khaled GRAYAAb
Existing supervision systems acquire data about the changes in
Abstract — Wireless Visual Sensor Networks (WVSNs) are commonly
using information technologies of modern networking and computing body motion/position in real time and process the information to
platforms. Today, visual network computing applications are faced characterize the movements. Many of these works have focused on
with high demand of powerful network functionalities and software/hardware, platform/architecture, or network
performances. This paper proposes specific WVSN nodes, which are
able to sense surrounding signals coming from the patient in the communications. This paper assumes to describe and demonstrate a
rehabilitation room and perform as local computations wirelessly WVSN node for patient rehabilitation supervision. Its main
communicated within the considered WVSNs. Assuming the WVSN contributions include the following points:
platform for the rehabilitation supervision of patients, this paper  A platform for real-time localization and tracking of Patient
discusses the specifications of the concept and the development of the
rehabilitation.
WVSN nodes relying on KINECT and Raspberry Pi 3 (RPi 3) boards.
Several technologies, such as RPi 3, Kinect, and ID sensor, are utilized  A low-cost Internet of Things (IoT) solution, as it proposes a novel node
in the proposed platform to realize sensors, image-capturing units, and by making an association between Raspberry Pi_3 (RPi 3) and Kinect.
processing cores. This collaborative platform consists of three nodes  Improved localization accuracy in comparison with other works.
that are designed in three processing cores using the entire  An evaluation of the energy consumption when using a WVSN node and
workflow to support the development steps. The communication of the
a global platform.
elements between one to another and between the components takes
place via Wi-Fi. The implementation of a preprocessing stage for
component integration and the development of software development
kit tools are necessary. In its final part, the paper summarizes the
outlines of the proposed platform in different scenarios which run on
nodes; it also provides evaluation results that prove the feasibility of
the approach.

Keywords: WVSN, Rehabilitation Task, Joint Skeleton,

Tracking & Localization, RPi3, Performances, Scenarios.

I. INTRODUCTION

Fig.1. Structure of WVSN Platform for rehabilitation issue

Patient rehabilitation is an exercise program (Figure 1) with
the objective of achieving a physical functioning level that allows The rest of this paper is organized as the followings; Section 2
elders or athletes to regain their initial capabilities after an accident discusses the related works on the existing platforms and on
or a surgery. Research has shown that an increased amount of WVSNs, as well as the classification of monitoring into various
exercises during rehabilitation leads to an increase in the functional categories. In Section 3 present the technological choices
recovery of patients [1]. The need for in-home care, monitoring, hardware, Section 4 presents the proposed approach and WVSN
and rehabilitation of the elderly and impaired people is increasing node for patient tracking and localization. Section 5 presents the
as the world population continues to age. The United Nations extensive experimental results and elaborates some performances
expected that 16% of the population would reach 65 years or older to enhance the level of availability of the WVSN node. Section 6
by 2020. This estimation comes along with the fact that falls are the provides the proposal evaluation. Section 7 concludes the entire
major cause of elderlies’ injuries [2], and has prompted the need to study.
remote the condition monitoring of older people and provide them
an efficient rehabilitation tool for the balance assessment.
Accordingly, many research teams have designed nonintrusive
surveillance tools, such as systems that can record gait parameters
over time [3] or perform daily monitoring activities [4], therefore,
they are suitable for smart home and health applications [5].
Intensive exercise programs require continuous supervision of
patients and this increases the load for therapists and medical staff.
a
Laboratoire LE2I UMR CNRS 6306 Université Bourgogne Franche-
Comté, Dijon 21000, France.
Fig. 2. Characterization of the environment
b
ENSIT Université de Tunis 1008, Tunis, Tunisia.
Corresponding author: idoudimonaem@gmail.com;
Monaem.Idoudi@u-bourgogne.fr

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II. STATE OF ART sensors because of the cost limitation [14]. Consequently, the
Several technologies have been proposed for patient accuracy of filtering and extraction of the target position cannot
monitoring and have provided support to rehabilitation tasks. This be guaranteed in the local sensor level. Vision-based surveillance
paper presents an in-home rehabilitation solution by employing by multiple cameras receives considerable attention because
WVSNs to monitor patients and elderly people with special visual surveillance by multiple cameras will enlarge an area.
needs. Therapy at home is flexible and convenient for patients as Numerous problems can also be solved drawing on the
it allows frequent repetition of exercises. Smart area is one of the information that comes from multiple views [9]. Many countries
outstanding examples of the IoT. Modern homes contain an have reduced hospital resources and moved healthcare services,
increasing number of smart objects. The localization problem has such as medical checkups, to the home [15]. Extensive work
received considerable attention in the area of wireless sensor needs to be done on models and algorithms to utilize data for the
networks (WSNs) [6]. The use of camera and image processing decision-making activities of health care, diagnosis and medical
on the IoT is an application that has not been fully explored in treatment [16]. Several collaboration steps, as shown in Figure 2,
literature, especially in rehabilitation. However, these existing need to be performed. The IoT can be defined as a set of
localization algorithms cannot solve the target localization interconnected things (humans, tags, and sensors) over the
concerning WVSNs [7], because of the significant differences in Internet, which can measure, communicate, and act worldwide.
terms of data acquisition (capturing) and processing methods of
the conventional WSN. This paper is based on developing a Table1.Hardware components in WVSN platforms
platform and experiments conducted with various phases and
scenarios to detect the falls of the patients which will allow us to
obtain classify their technological performances. WVSN nodes
are combined with an ID sensor. The smart nodes can issue
warnings to people designated in case of requirement. This paper
considers the different features of WVSNs. Coverage
optimization: The faulty nodes that are artificially produced by a
monitoring schedule or coverage optimization are verified. The
selected set of nodes depends on the way visual information is
monitored by the application. Monitoring requirements:
Changing the monitoring requirements may alter the role of the
WVSN nodes for such an application. Low-quality monitoring:
Environmental conditions or poor configuration and adjustment
of the sensor cameras may reduce the quality of the retrieved
visual information. Poor deployment: WVSN nodes may be
damaged during deployment. For most of these applications, users
are interested not only in the existence of targets, but also in their
positions [8], because this could facilitate target detection,
recognition, and tracking. The localization task provides
coordinates of both sensors and targets in sensor works [9]. The
aim of target localization is to estimate the location of the target
basing on the visual information of camera [10]. The problem of
target localization is well studied in WSNs. The measurement
techniques in sensor localization include angle-of-arrival,
distance-related, and received signal strength (RSS)
measurements [11]. The target localization in WVSNs faces great
challenges. First, processing image is costly implemented in local
nodes [12] because the computing capabilities are limited in local
nodes. Second, bandwidth resources are also restricted in
WVSNs. Thus, transmitting a large amount of visual data
generated by cameras to a central node or to a base station is
critical [13]. Third, the location information of a target in the
The key idea of the IoT is to obtain information
depth dimension is lost in an image because the sensing capability
concerning our environment to understand, control, or even make
of a camera is characterized by a directional ensign. Fourth, visual
a decision to help us in our daily life [17]. Regarding the network
nodes in WVSNs are equipped with low-resolution optical
bandwidth consumption, we consider the fact that the size of

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visual data is much larger than that of scalar data; hence, more
network bandwidth resource is required for transmission. These
performance requirements make the visual data transmission
within WVSNs more challenging than the transmission within
WSNs [28].
captured by the depth camera cannot be recognized. This feature
helps to keep identity confidentiality. The hardware requirements
for the remote enrolment node are listed below. In the node, the
images are taken by the MS Kinect and processed by the RPi
3board, as shown in Figure 3.

Table.2.Hardware Boards Comparison

III. WVSN NODE ARCHITECTURE CHOICES Raspberry pi 3 Arduino Beaglebone
Base Price in US $ 30 35 50
Processor quad core ARM ATmega328P 1GHz TI Sitara
A. HW structure of the WVSN node Cortex-A7 1.2 GHz M3359 ARM
The sensor identifies the patient ID and permanently sends the Cortex A8
Memory 1GB LPDDR2 + in the order of 512 MB DDR3L
RSSI signal to the three WVSN nodes within a medical 64GB External MB @ 400 MHz
rehabilitation room. As shown in Figure 3. RPi 3: After receiving Power ~150 mA @ 5V ~50 mA @ ~250 mA @ 5V
the RSSI signal, Rpi checks if the received power is in the range of Draw 5V
RSSI to allow WVSN_N1 to wake up and thus, awakens the Kinect.
Operating system 64-bit Windows 10 Custom Linux
KINECT: The captured depth image is based on the skeletal joint IoT
position (X, Y, and Z). Suited for Software Hardware Software
Number of I/O pins 8 Digital 14 Digital (6 65 Digital
PWM)
6 analog
Peripherals 4USB Hosts, 1 None 1 USB Host, 1
Micro-USB Power, Mini-USB Client,
1 10/100 Mbps 1 10/100 Mbps
Ethernet, WIFI, Ethernet
Bluetooth
Internet Yes Via Shield Yes

Table.3. Localization & Tracking Nodes Comparison

Nodes Our node MicaZ TelosB Iris Cricket Lotus
Size 85.6*53 58*32 65*31 58*32 58*32 76*34
(mm) *21 *7 *6 *7 *7 *7
Weight 85 18 23 18 18 18
Fig. 3. Proof of Concept: WVSN Node KINECT and RPi3 (g)
Processor ARM ATMEG TI ATMEG ATMEL1
RPi3 boards with an MS Kinect camera are used here. This Cortex-A7 A128 MSP430 A1281 28L
system proposes a novel approach, in which a patient holds an ID RAM 1G + 256 4K 10 K 8K 128 K 512 K
kb
sensor that generates the RSSI signal. WVSN_Ni receives the
External 8-64 G 128 K 48 K 4K 512 K 64 K
RSSI and sends image measurements to approve the localization Memory
and to indoor track the patient for improved accuracy. WSVN OS WIN 10 TINY TINY TINY OS TINY RTOS,
node is compared with other visual nodes presented in Table3. IOT OS,MO OS,SOS, OS,MOT TINY
TE MANTIS E OS
First, the MS_Kinect is connected to the RPi 3 board through a RUNNE OS RUNNE
Universal Serial Bus (USB) interface, MS Kinect [5] is a marker- R R
less motion-capturing sensor that can track a user skeleton and Price 90-125 99 99 115 225 300
US$
capture data at a rate of 30 frames per second using the MS
Kinect for Windows SDK [5]. Each tracked skeleton contains 20
joints with 3D coordinates [19]. The Kinect sensor can also B. KINECT Skeleton Joint positions
maintain tracking through an extended range of approximately
70–600cm in the context of ignoring loss in terms of accuracy. Depth imaging technology has an undergone and remarkable
The FOV of the sensor has a pyramid shape. The sensor also has development in the last years, especially when a consumer price
an angular FOV of 57°horizontally and 43°vertically, and the point was reached with the release of Microsoft (MS) Kinect. MS
motorized pivot can tilt the sensor up to 27° either up or down Kinect (MS Corporation) has recently shown great reliability for
[20]. The advantages of this technology, with respect to classical depth image capturing, its popularity comes from their low cost,
video-based ones, are as follows [21]. high sample rate, and capability to combine visual and depth
This technology is less sensitive to variations in light intensity
information [26]. Kinect software deals with the available tools
and texture changes. This technology provides 3D information
using a single camera, whereas a stereoscopic system is necessary for working with Kinect hardware and various libraries to use its
in the RGB domain to achieve the same goal. A skeletal joint functionalities for developing several applications. Several tools
coordinate may be extracted using a depth sensor. The privacy of for Kinect, such as MS Kinect software development kit (SDK)
the patient is maintained because the facial details of the people [23], OpenNI [24], and OpenKinect [25] are available for

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developing applications. OpenNI 2.0 is the highest version of
OpenNI MS Kinect SDK, released by MS, and its current version
is 1.8.OpenKinect is a free, open-source library maintained by an
open community of Kinect people. The SDK enables users to
develop sophisticated computer-based human motion-tracking
applications in C# and C++ programming languages [27]. A
version of skeleton estimation is incorporated in the Kinect SDK,
and a stream of skeleton frames can be obtained directly. A model
is developed to represent a full human skeleton to accomplish a
real-time human skeleton estimation. The model is then trained
with extensive labeled data. The trained model is incorporated
into the SDK for real-time skeleton tracking. In fact, Figure 4
shows the coordinates of skeletal joints that will be extracted.
Besides, Figure 7 shows a two-phase system used for fall
detection. The first phase of the system characterizes the pre-task
to identify the patient before and during the task. The second
phase of the system concerns the critical event that could possibly
happen to the patient, such as a fall situation.
Fig.4. Skeleton Joints Position of the Patient
 Data structure for the proposed scheme
The range information is expressed in 2 bytes for every
attribute value, while the distance information result is converted
into hexadecimal numbers to prevent the identification of the
information even if it is added to a hash value. The shown Figure
9 gives a description of the process of recording and extraction
data using the proposed scheme and adding range information. In
below, an example of the basic data structure that is utilized in the
proposed method. When a WVSN node collects data, as shown in
the algorithm, the data is expressed as shown in figure5.
"Joint_Position_....binary" File
Each row contains following fields:
- Position (x, y, z);
Joint tracking state (in joint rows)*
* Tracking states: 0=joint is not tracked;
1=joint is inferred;
2=joint is tracked
"Joint_Orientation_....binary" File ---
Each row contains following fields:
- Hierarchical joint angle as a quaternion (w, x, y, z),
- Angle status
* Angle status:
- In joint rows: 0=successful, any other value implies angle
computation failed and the angle has been set to the Identity
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quaternion (1, 0, 0, 0).
- In CoM rows: Not applicable. Angle status is set to
S_FALSE=1.
Fig.5. Data structure for KINECT depth distance
IV. THE PROPOSED SOLUTION
4.1 Proposed WVSN platform
This section presents the proposed approach, which is based on
three WVSN nodes and designed for location/tracking scenarios
in a clinical rehabilitation world. The nodes include an
image/video capture unit, a processing component and a
communication element. The design of a complete platform
involves three WVSN nodes, namely that it’s based on, (A) the
RSS indicator (RSSI) and information processing to compute the
initial location information as output; (B) the acquisition of
image-based skeletal joint location data of patients, the extraction
of distance, and the storing, analysis, monitoring, and displaying
of data in a centralized management server; and (C) the system
realization by implementing various available technologies. This
subsection presents the block diagram of the proposed platform. It
is necessary to consider how to find the location that coordinates
from raw RSSI data.
In Figure 6, we present the operating blocks of the platform,
these plates are detailed on two layers of hardware and software
conception. Basically, as explained before, a compensation of the
location error margin fixed via RSSI, we managed to introduce
the extraction of the position via image too. The RSSI values are
configured from reference node (the patient's body level) within
the distance estimation step. Environmental characterization
using these RSSI values can be conducted to find the suitable
parameters for that area. So we can define the field of sense FOS
to move on to the next step. Following the calibration process, the
environmental parameters will be fixed and will not change
unless significant changes happen to the objects within the area.
While D1, D2 and D3 represent the distance between the patient
and the 3 nodes, so by entering from one FOS zone to another, a
camera will be activated among the three cameras C1, C2 or C3,
the whole approach of the passage between blocks is detailed in
the algorithm (section 3.2-b). The next step is to obtain
continuous RSSI values online from the reference nodes. With
both the RSSI values and environmental parameters, it is possible
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to convert those RSSI values into distance using the path loss
model. After the RSSI–distance conversion, the distances
between the target sensor node and the reference nodes can be
obtained. Trilateration combines the distances and finds the exact
location coordinates of the target sensor node within the area.
Fig. 6. Block Diagram of the global Platform
A. Software structure of the WVSN node
Figures 4&6 shows the components of the used WVSN node.
The capturing unit consists of one ID sensor and image capture
element (KINECT). The RSSI issued by the ID sensor or the
image data signals will be then in putted in the processing unit.
The processing unit usually consists of a microcontroller or
microprocessor with a memory as part of the same died or
integrated circuit package. The processing unit could contain
application-specific processor. The processing unit provides
intelligent control and processing of information to the sensor
node. Figure 7, present the software solution architecture of the
system for patient identification and localization. Because of joint
tracing status of input skeletal data can be known from each
KINECT, only joint’s depth distance Z’ data is extracted & stored
in order to be used after detecting a prospective fall. Also, the
localization error of coordinates is reduced when comparing
between the KINECT depth Distance Z and DRSSI.
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Fig.7. WVSN Node Sw Solution Function Block
B. RSSI-range technique model
Information training is a common technique to reduce the
uncertainty in raw data sets and provide an accurate position of
patient location. This technique is given, such that both the
tracking in RSSI and the depth distance of captured image within
the tracking scene have various strengths and improve accuracy.
Figure 8 shows the approach of balancing from Zdepth to ZRSSI that
has been used to reduce uncertainty measurement, and both can
complement each other through the research model in order to
enhance tracking. WVSN node activation and RSSI range
measurements have interesting complementarities. However, the
number of wireless camera networks that use RSSI is very low.
Miyaki et al. estimated target location individually using cameras
and RSSI and then integrated both estimations using a sensor
fusion method [11] or a particle filter [12]. These methods were
validated using outdoor tests, but the accuracy and robustness
were not analyzed. Nodes out of the cluster can be switched off,
which allows energy saving. RSSI depends on the distance
between nodes, but the RSSI values don’t change linearly with
the distance. Although RSSI is sensitive to some types of
environmental noise, RSSI from a fixed location almost indicates
the same value, regardless of time. Therefore, the main idea in
this paper is to reduce the environmental effects on RSSI not by
using a single RSSI, but by using a pattern extracted from several
RSSIs. Three pattern recognition methods must be introduced to
realize this idea. The assumed solution in this paper proposes a
localization algorithm based on the RSSI–trilateration localization
technique.
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Fig.8. RSSI Communication protocol overview
Trilateration is a general method to calculate the position of
nodes using an arbitrarily large set of distance estimated from
fixed points. The technique involves the knowledge of the
distance of the moving object relatively to a set of references with
known positions [29]. As depicted in Figures 6 & 8, the inputs of
the system include RSSI scans and image capture and readings.
Two major improvements are applied to traditional other systems
that based on RSSI or image separated. Firstly, a WVSN nodes-
based initialization phase is introduced to the platform. This
method requires several scans from RSSI module and a distance
model made by FOV comparison algorithm. It filters out all the
position by the FOV and FOS and keeps the decision making for
initialization and activation of nodes N1, N2 & N3, which
increase the accuracy of position rate as well as the efficiency.
After a normal initialization, an activation phase via RSSI
intervals, an improved identification, and cameras activation
method are introduced. This phase initially permits to collect a
multiple frames and position estimations in the second scenario
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mentioned in section 4.3. Then, the perform model of depth
distance extracts algorithm to construct a target and position
model. Each position obtains coordinates from the constructed
model. Finally, resample the next frame based on the activate
nodes and calculate the average distance and location from the
new frames.
Fig.9. Operation structure of data processing step
C. Patient localization technique approach
 Our approach for fall detection phases & modes
Fig.10. Fall detection phases
 Basing on the skeleton joint position of the patient during his
movement, the proposed joints for different physical model
were selected, i.e., distance-based algorithm.
 The algorithm concept defines the relationship among the body
parts (five parts) and extracts the distance of human skeletal
joint to the body parts.
 The distances among the body parts will increase or decrease
along the y-axis versus postures as an example of a worn
difference between the shoulder and the knee while standing
and sitting.
 The proposal is different from each 3D Euclidean distance
among five seals to analyze deviation rates. The 3D Euclidean
distance among the skeletal joint “seals” is as follows:

d ( p, k )  ( p1  k1 )  ( p2  k2 )  ( p3  k3 ) .....
2 2 2
Where d (p, k) is the distance among p values of the result as
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the initial position k in the final position skeletal joints, such as Algorithm 1 the proposed WVSN platform
the head. Left foot. P1, P2, and P3 are for sampling the axes x, y, Require: ID sensor, three nodes based on RPi 3 and Kinect MS
and z, respectively, from the initial position of the skeleton. k1, for image capturing
k2, and k3 are for sampling x, y, and z, respectively, of the Ensure: Acquisition and capturing, processing, transmitting, and
collaboration of WVSN nodes, patient fall detection
position of the backbone end.
Phase 1 – Data acquisition and image capturing
However, all information is not pertinent in the framework of 1: ID sensors send an RSSIid signal to a WVSN node that converts
fall detection. In the proposed method, a maximum of seven joints the RSSI signal into distance Drssi
are considered. These seven joints (in Figure 4) are combined to 2: Send the first RSSI signal through the ID sensor and receive it
make four modes in the experiment: via the ZigBee module
1st Mode use 3 joints: Head, Spine, Shoulder Center 3: Drssi in the average  the patient is in the Field of sense; we
2nd Mode use 5 joints: Head, Spine, Shoulder Center, activate the MS Kinect of the WVSN node
4: Image shooting and depth data capturing based on patient
Shoulder_Right, Knee_Right
skeleton
3rd Mode use 5 joints: Head, Spine, Shoulder Center, Phase2 – Processing of the input data and collaboration task
Shoulder_Left, Knee_Left 5: If Kinect is activated  Zdepth = ZKinect Else Zdepth = ZRSSI
4st Mode uses 7 joints: Head, Spine, Shoulder Center, 6: Utilize the image input via Kinect component to track the
Shoulder_Right, Knee_Right, Shoulder_Left, Knee_Left. skeleton of the patient
7: Verifying if the patient skeletal joints are in range we
compute skeletal joints
8: The storage of each Stream Saver: ON recording patient
skeleton in the form of Joint Position. Binary file [120 rows /
Skeleton data/ Frame]
9: Each row contains the following fields: position (x, y, and z);
joint-tracking state (in joint rows)  extract five rows to seven
rows.
10: The extracted Distance Patient/WVSN_N (Z) = Z (joint)
Phase3 – Processing of falling motion phases on scenarios
11: Fall detection? Patient map tracking: via B i Blocs of
processing
B1: No processing in node: send id, init position and image,
B2: Low-level detection: (x,y) position and image and
tracking,
B3: Composite event detection “fall,”
12: Scenario A: Mode without fall: B1  B2  B2
Scenario B: Mode with fall: B1  B2  B3
13: For each skeleton in the video sequence: Identify a maximum
of seven joint coordinates (Head, Spine, Shoulder_Center,
Shoulder_Right, Knee_Right, Shoulder_Left, Knee_Left).
The 3D Euclidean distance among the skeletal joint “seals: is as
follows: Determine the d distance among the joints:
d ( p, k )  ( p1  k1 )2  ( p2  k2 )2  ( p3  k3 )2 ..... ;
Where d (p,k)is the distance value of the result between pas initial
Fig.11. Approach Flowchart position and q as end position skeletal joints, such as head => left foot.
p1,p2, and p 3are the instances of x,y, and z axes, respectively, of the
initial skeletal position. k1, k2, and k3 are the instances of x, y, and z
4.2 Algorithm Phases axes, respectively, of the end skeletal position.
14: For each distance, we classify the fall situation on four modes
The Pseudo-code for WVSN-based identification & initialization Phase4 – Communication phase
is detailed in Algorithm. The input of this algorithm is a set of 15: Preparing to switch to other nodes depending on Fos, Zdepth
RSSI estimations and the depth distance issued by the camera. 15: Activate and forward other WVSN_nodes
The model is constructed by Depth distance extract via frames If a node receives RSSI on range then
captured on Kinect Camera of our WVSN Node and a few If node contains important information then
experienced parameters. Steps 2 and 3(figure 10) are the model If Fos2 > Fos1 Then // if the remaining data>
generations phases (processing of the input data, collaboration a predefined threshold
task & processing of falling motion phases on scenarios). The Transfer information [Wi-Fi and ZigBee
algorithm selects the scenario with a data points to the set of ACT/DESACT];
distances from frames as shown in the flowchart figure 11 of the EndIf
platform algorithm. EndIf

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4.3 Proposed Scenarios of localization:
Three modes, basic scenario (B1), intermediate scenario (B2),
and higher scenario (B3) are used to evaluate the different phases
of localization and tracking measurements and thus, validating the
proposed WVSN platform. In this part of the scheme, three
scenarios are defined to detect a composite event. An event of
interest is assumed to be a composite as an event that can be
detected by at least two WVSN nodes. The overall methodology
of the nodes, the scenarios, and the management of the patient
state are presented in the algorithm below (figure 12).
Fig.12. Localization & Tracking Scenarios Flowchart
A. First Scenario: B1
Basic mode: The ID of the patient is given by the ID sensor to
the WVSN nodes. The ID sensor sends the patient ID to the
WVSN node and/or to a field-programmable array server for
further processing. In the WVSN node, the RPi 3 board does not
perform any image local processing (Figure 13). Nevertheless, the
node does some scalar preprocessing, such as RSSI conversion, to
find the initial position of the patient. Such preprocessing, as
shown in Figure 6, is embedded in the node board. This scenario
serves as a baseline for the following two scenarios (B2 and/or
B3). The patient status is then detected, which will cause an
end of image every time motion.
B. Intermediate Scenario: B2
In this scenario, the WVSN node is not limited to capturing
image, but also to perform local processing (Figure 9). The node
detects and computes the patient position to be sent to the server.
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The event of interest is to detect the patient and track the exercise
that he must do in the rehabilitation room. If the patient begins the
rehabilitation task, then it will be verified if he is on the view of
node WVSN2. RPi 3 provides local processing on the node. In
this scenario, after the Kinect wakes up, the RPi 3 performs a
skeleton imaging to detect the skeletal joints of the moving
patient. The RPi 3 (the considered node is adapted to the hybrid
communication components of Wi-Fi and ZigBee to reduce the
energy consumption) transmits only the position-based ZigBee
and forwards the image-based Wi-Fi. The First point: Images are
not transmitted every time. Instead, the RPi 3 transmits images
only if the position of the detected patient satisfies a certain
criterion in the case of simple event/movements (the patient
moves and changes the task).
 The captured and transmitted image size is 640 × 480.
 The Second point: The RPi 3 board only transmits the portion
of the image containing the object, instead of the entire frame.
A. Higher Scenario: B3
The WVSN nodes perform local processing in this mode as
well. If a composite event is defined as a sequence of critical
events across the FOV of one node or more, then the first node in
this sequence transmits a message addressed to the next node
once it detects the first critical event. The WVSN node: The RPi 3
board does perform a local processing via an algorithm to identify
a critical “fall” event. The event of interest can be defined as a
sequence of two steps of events. The first step event is detecting if
the skeleton of the patient has a problem in the target on the view
of Kinect A. The second step event is detecting whether the
patient falls in the way (based on the skeletal joint position
distance) specified in the view of Kinect B. As the first node
detects the first step, it transmits a message addressed to the
second one instead of transmitting a portion of the image to the
server. Composite event detection avoids redundant
communication, because the application is not interested in
multiple patients entering the room. Instead, a higher-level
composite event is of interest.
Fig.13. Image processing tasks in
WVSN node, in the first setup, an
ID sensor wakens the camera mote
when it detects motion in the scene
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V. EXPERIMENTAL RESULTS & each case. The obtained results are presented in Figure 17, which
PERFORMANCES ANALYSIS : shows the effect of the number of nodes on energy needs.
A. Processing :
As compared to the ordinary data computing in WSNs, the
Image processing in WVSNs is more complex and demands more
hardware resources, such. As CPU power and memory. The data
size can be reduced (via data compression, collaboration among
multiple sensors, and minimizing the consumed time of imaging
using basic information) to decrease the required hardware
resources. The collaboration among Kinect nodes needs to
exchange FOV information. The sensor hardware capability
should be considered when designing visual data-processing
techniques. Preprocessing option: In this step, the image is
analyzed on the local CPU of RPi3; a real-time skeleton image is
generated from the colored image by using the SDK tools
installed via a Windows 10 IoT OS on board. This real-time
extraction of skeletal joint position allows to make the necessary
work to localize the patient and continue the tracking of a fall
event. In the proposed platform, collaboration among
multiprocessor SoCs is carried out, e.g., basing the hardware by
using three quad cores ARM Cortex-A7 1.2 GHz. The considered
prototype is implemented and tested on a 1.2GHz CPU with a
quad-core. The system can run in real-time at 30 frames per
second. The results of 3D skeleton tracking in the 3D virtual
scene are demonstrated and tested in the WVSN node. The
WVSN node is tested for different situations, in which the
memory, time execution, and power are measured, as shown in
Table 4. The test is carried out with video storage of indoor
environments to make the scene realistic.

Fig.14. Test bed layout and WVSN Node

The proposed approach is compared with the D RSSI method and
DZ extracted distances to demonstrate its performance. It
examines the effect of the approach of WVSN nodes basing on
the criteria of accuracy improvement. The energy consumption of
WVSN nodes are also considered in the scenarios. Energy is the
parameter that defines the life of WVSN node and platform. This
section, presents the results of a detailed analysis of the
performances and localization accuracy of the three operation
scenarios described above, along with. The results of some
simulations, which are conducted to examine the performance of
the proposed platform based on WVSN node as presented in
figure 14. Three nodes are deployed in a room of 8m * 6m 2D
field in order to reduce the test reliability. The positions of the
cameras are shown in the figure of the test layout. All the cameras
have a FOV of 57.4° and a radius of 10m. This parameter is Fig.15. WVSN Node Memory & Process Consumption
considered as the most important criterion and the performance of A custom program is created in C++ to (1) capture image and
the proposed approach will be evaluated according to this save the data, (2) display the information in depth and skeleton
parameter, as indicated in Figures 15. The experimental test images, (3) allow the user to store a binary file input for tasks,
layout is fixed with the three nodes to generate a set of results for (4) identify the joint coordinates to calculate the D parameters

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Online, and (5) give a memory and process performance on collect data, such as time, voltage, and current, 170 times per
execution feedback regarding the online/offline status. The second from node end-devices through a shield that is made to
performance measures of the various processing stages operated measure the energy. Joule (J) is a unit commonly used to measure
on different phases are presented in Figure 15. In the conducted mechanical energy (work). The energy consumption, in Joules, is
test (Figure 15), it has been assumed that the nodes consume calculated from the voltage and current at time t [V (t) and I (t)]
limited resources in terms of memory and process. The node as x
performs excellently. The test aims to focus on the performance WVSN _ Joules   V1,2,3 ( t ) I1,2,3 ( t ) dt (1)
0
of the WVSN node. Like, the platform is implemented by
The total transmission energy drained for N hops is given by
creating different practical scenarios.
Table.4. Performance of practical WVSN node test equation (2): Enode = Ecpu + Ecom+ ECapturing (2), where;
WVSN Node Scenario A Ecom ( n, d
Scenario B )  Eelec  
n 
Ecapturing 
Eampl Ekinect
( n, d )  Eelec * n  Eampl * n * d 2

Memory OFF 65 65 130 Ecom(n, d )  Eelec  n   Eampl (n, d )  Eelec * n  Eampl * n *

(MB) n

 Pcu  state(i) *Tcu  state(i)

ON 161 161 350
CPU OFF 3% 3% 3%
Ecpu 
i 1
Memory ON 56% 61% 78%
Execution Where Enode is the energy consumed in the system, given in Joules. Ecom
sec 57 57 133
Time is the energy consumed in the transmitter receiver RF system. E sensors is
Draw Idle 0,31 0,31 - the energy consumed in the sensor system. P cpu-state is the power
AMPS Load 0,58 0,66 0,82 consumed in the state i of the CPU, given in watts. Tcpu-state is the duration
Time Sec 49,02 0,55 0,36 time of state i,given in seconds. This time includes the transition time
Execution
among states. Eelec is the energy consumed in the transceiver circuitry by
n processed bits. Eampl is the energy consumed in the RF amplifier circuit
B. Energy Management: by transmitting n bits of information in distance d.
The lifetime of wireless visual sensor node is correlated with
the battery current usage profile. By being able to estimate the The first experiment consists of considering a single-hop network
energy consumption of the WVSN nodes, the applications, with no bit rate constraint (minimizing the activity time of nodes).
routing protocols and node management (FOV and on/off). In this network, it has been considered that nodes are located 4–8
Informed decisions that increase the WVSN lifetime can be made. m away from one to another because they would be placed in an
Minimizing energy consumption and size are important points to actual video patient surveillance. Figure 16 illustrates the total
make WVSNs deployable. Energy management is fundamental to energy consumption for all the nodes in the platform for each
the network reliability. The nature of the application may make it block of work in Section 4.3 The results shows that deploying
infeasible for interaction with the WVSN once it has been three collaborative WVSN nodes and communicating minimal
deployed. The nodes are frequently located in remote areas and data provide 27.56% savings in energy consumption compared
thus are impossible to access. Economics is also a factor; when with using off-collaborative nodes and exchanging compressed
thousands of sensors exist, the power of a given sensor should be data. The first experiment consists of considering a single-hop
considered. Communication is the primary consumer of energy in network with no bit rate constraint (minimizing the activity time
wireless networks. of nodes). In this network, it has been considered that nodes are
The desire to save energy has also affected routing algorithms, located 4–8 m away from one to another because they would be
scheduling, data collection and aggregation and medium access placed in an actual video patient surveillance.
control protocol research. The tradeoff between energy savings
and latency is a major concern. Some time-critical applications
cannot tolerate delay in packet delivery. Some techniques are
considered to conserve energy, including: Node switch between
active (on) and sleeping (off) modes
 Independent nodes
 Physical layer aware protocol
The energy efficiency of the proposed scheme is also evaluated
in different usage cases. Arduino Nano is used to monitor the
energy consumption, because it can ensure accuracy and
synchronism in data collection through an automated code to start
and finish the measure, which can be linked to the start and finish
times of events in the Raspberry Pi. The electric current can be
c
kept within 800mA by using a 1Ω resistor in series with the RPi
Fig. 16. The overall energy consumption for different Blocks
3. The voltage drop in the resistor can then be measured to infer
the precise electric current of the circuit. The Arduino is used to

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Fig. 17. The distribution of the consumed energy
The total energy consumption in Scenario A when tracking one
patient is 23.75% less than the collaborative setup, as shown in
Figure 17. In addition to energy consumption, we measure the
average power consumption of each node for the scenarios
described in Section 4. Figure17 shows the obtained histograms.
The distance between the nodes and the ID sensor node is
approximately 3–4 m, and the communication is performed
during two hops. Figure 17 shows the amount of time needed to
complete waiting, processing, and communication for all three
scenarios. The accuracy of tracking patient is consistently
measured on the FOV of three nodes for the proposed approach
and the previous RSSI work configurations. The latency
introduced during these different scenarios is also measured. In all
latency measurements, the measured time intervals include the
wakeup time of the node sensor, which is approximately 4 s. For
the first scenario described in Section 4.1, the time interval from
KINECT waking up to a WVSN_N1 node sending the complete
image is measured.
Fig. 18. The latencies of different components of operation for
different scenarios B1, B2 & B3
The results are displayed in Figure 19. While decreasing the
error average when introducing the camera distance extracted on
the considered node, the reliability is very high for the real-time
scenes. Given that only RSSI location data are exchanged, the
reliability will decrease for scalar scenes. The use of wireless
network protocol channels increases the accuracy at the cost of
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high delays and high energy consumption. Figure 19 illustrates
the used node of the platform during the execution of the patient
rehabilitation task, which allows the performance comparison of
different state-of-the-art methods. For the tests performed, the
results are the average values for each point of passage of the
patient in exercise according to the different scenarios. It can be
seen that the two curves represent the precisions of the two
methodologies used with and without image. The difference is
purely clear between the two ways of localization.
C. Communication:
Given that the quality-of-service requirements make the visual
data transmission in WVSN seven even more challenging than
those in WSNs, the hybrid communication protocols using
ZigBee and Wi-Fi are selected. Also, the effect of the
communication energy cost that makes the fundamental critical
point of this field is considered. Small-sized packets are
exchanged between nodes and ID sensor to reduce power
consumption and delay. The maximum data rate of 802.15.4 is
250 kbps per frequency channel (16 channels are available in the
2.4 GHz band), which is far too low for a WVSN node to stream
images back to the server at a sufficiently high quality and frame
rate for real-time applications. A key tenet of the design is to
push computing out to the edge of the network and only send
preprocessed data. If an event of interest occurs in the network,
then a query can be sent for the relevant image sequence to be
compressed. Figure 18 present the impact of the considered
scenario of execution, so the cost of communication more
importunate on the case of scenario.
D. Accuracy:
Now we analyze the accuracy as shown on figure 19, of the
training RSSI model method proposed in Section IV. We
employed the same setting in the WVSN Integrated testbed and
tracked the Patient using an image that integrates only distances
measurements. We compared the performance of the EIF with
three different RSSI models: the default RSSI model, the RSSI
calibration method presented in [11] and the RSSI model training
method proposed in this paper. The experiment was repeated 10
times. Figure 19 shows the cumulate Patient localization errors
obtained when using the two models. The method proposed in
this paper has significantly higher accuracy: the mean error is 29
cm and the error was lower than 50 cm in 90% of the samples.
Errors were significantly higher in the other cases even
considering that both RSSI models were generated for that
specific environment. Our RSSI training mechanism behaves
better because it estimates target location with cameras and trains
the RSSI model dynamically considering the local surroundings
of the target and of the static node. As presented in Section IV the
proposed scheme includes self-comparative mechanisms that
improve robustness against RSSI value errors. We analyzed the
robustness of the trailing method against the most common errors
in the RSSI. Occlusions originated high uncertainties in the RSSI
training method and the default RSSI model was selected.
However, the integration of RSSI measurements even using the
default RSSI model was a significant advantage when no camera
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measurements were available. The proposed method, consuming
40% less, has robustness against other platforms errors
comparable to that of Method2 and is significantly more robust to
target solutions.
users, as opposed to micro controller programming which usually
depends on the development kit.
The second one is the using of the RSSI treatment with image capturing.
Fusion of depth distance DZkinect and the initial position pre-calculated
Drssi. The other specificity is those WVSN nodes perform a local pre-
processing image before sending data to the server. In summary,
according to the computational capability and system resource
consumption, there are two types of WVSN platforms. The first one is
the low-end WVSN platform that is designed specifically for energy
efficiency (e.g., Cyclops [30]). The other is the high-end WVSN platform
(e.g., Meerkats [31]) that is designed for sophisticated visual data
applications where the system resource requirement and energy
consumption are about one order of magnitude higher. This offers new
research directions and opportunities for designing new WVSN platforms
that could perform sophisticated visual data operations in energy efficient
ways. This section reviews the five major hardware components of the
sensor node in WVSN; other detailed hardware architecture can be seen
in [32].
Table.5. Comparison of platforms performances

Fig.19. The accuracy of different approach and the scheduling of

nodes on active situation.

Wvsn_N Kinect Rpi3 Zigbee Unit Total

Cost (€) 55 35 15 105
For the cost criterion of the proposed solution, cost 350 euros, so for a
single node does not exceed 120 euros comparing with other platform is
much cheaper. on the 3 WVSN sensor nodes, as long as one deploys
Kinect, RPi 3 and with a Zigbee reader module then the wireless sensor
nodes in the target environments are not expensive because one is limited
to only three nodes.

DISCUSSION
The first difference between the proposed approach and the
approaches presented in the previously mentioned works is in the use of a
Win 10 IOT OS for the implementation of the prototype which is one of
the main modern operating systems. Also, to create the driver of the node
sensor, open source Pi4J library is used. This is a bridge between the
VS15 & SDK libraries for full access to the Raspberry Pi. A win 10 IOT
service was preinstalled on the processing unit in order to make a
connection between Raspberry Pi and the KINECT. Thus, the developed
Table 5 summarizes the different components for the WVSN platform in
testbed advance is in its modularity – developed codes written in C++
comparison with other systems. As a specificity of image quality it is IR
provide multiple use of written software in future projects. Solution
camera Kinect, as the memory size (1G + 256Kbytes) by far is more
implementation is quite simple and it is accessible to a large number of
important than the other nodes, for communication the combination

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Monaem IDOUDI was born in Tunis, Tunisia, in 1988. He

received the B.S. degree in electronic and
telecommunication engineering from the University of
Tunis, Tunis in 2010, and the Master degree in science
and technology of the information and communication;
specialty: Electronics and Advanced technology
engineering; from ENSIT - University of Tunis, Tunis,
Tunisia, in 2013. He is currently pursuing the Ph.D. in
electronic and informatics at the University of Burgundy,
Dijon, France. His research interests include: Wireless
communications and embedded image processing, FPGA
design and real time implementation, IoT technologies.

El-Bay BOURENNANE, is Professor of Electronics at

the laboratory LE2I (Laboratory of Electronics,
Computer Science and Image) at the University of
Burgundy, Dijon, France. His research interests include:
dynamic reconfigurable system, image processing,
embedded systems, FPGA design and real time
implementation.

Khaled GRAYAA, is Professor of Electronics at the

laboratory LIRINA (Laboratory of Intelligent Networks
and Nanotechnology) at the University of Tunis, Tunis,
Tunisia. His research interests include: Smart sensor
and smart Grid networks, embedded systems, FPGA
design and real time implementation.

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