This　paper　proposes　a　distributed　intelligent　assistant　robotic　systemin　order　to　improve　the　quality　of　the　elderly　people＇s　life　in　the　population　aging　society.　The　system　is　composed　of　embedded　distributed　sensor　networks　and　multirobot　intelligent　platform.　In　the　proposed　system,　we　use　SP2　ATM　(simultaneous　path　planning　and　topological　mapping)　with　RBPF　(Rao-Blackwellized　particle　filter)　for　path　planning　and　localization　of　mobile　robots.　In　order　to　perform　service　tasks,　an　accurate　and　reliable　3D　environment　map　is　reconstructed　by　using　an　effective　3D　reconstruction　technique　from　multiview　stereo.　Besides,　the　system　provides　user　human　tracking　services　based　on　multifeature　mean　shift　under　the　double-layer　locating　mechanism.　To　improve　the　feasibility　and　reliability　of　the　system,　this　proposed　system　is　developed　based　on　distributed　control　technology　RTM　(robot　technology　middleware).　This　paper　presents　the　architecture　of　the　proposed　system　and　the　experimental　results　verify　effectiveness　of　the　approaches.