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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