Human respiration rate (HRR) is an important physiological metric for diagnosing a variety of health conditions from stress levels to heart conditions. Estimation of HRR is well-studied in controlled terrestrial environments, yet robotic estimation of HRR as an indicator of diver stress in underwater for underwater human robot interaction (UHRI) scenarios is to our knowledge unexplored. We introduce a novel system for robotic estimation of HRR from underwater visual data by utilizing bubbles from exhalation cycles in scuba diving to time respiration rate.
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