Title: Visual tracking of a moving person for a home robot
Authors: Song, KT
Chien, CC
電控工程研究所
Institute of Electrical and Control Engineering
Keywords: tracking control;human-robot interaction;intelligent robots;image processing
Issue Date: 1-Jun-2005
Abstract: This paper presents a visual tracking system for a home robot to pursue a person. The system works by detecting a human face and tracking a person via controlling a two-degree-of-freedom robot head and the robot body. An image processing system has been developed to extract facial features using a complementary metal-oxide semiconductor (CMOS) web camera. An algorithm is proposed to recognize a human face by using skin colour and elliptical edge information of a human face. A digital signal processing (DSP)-based motor control card is designed and implemented for robot motion control. The visual tracking control system has been integrated on a self-constructed prototype home robot. Experimental results show that the robot tracks a person in real-time.
URI: http://dx.doi.org/10.1243/095965105X9597
http://hdl.handle.net/11536/13654
ISSN: 0959-6518
DOI: 10.1243/095965105X9597
Journal: PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
Volume: 219
Issue: I4
Begin Page: 259
End Page: 269
Appears in Collections:Articles


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