Visual tracking and servoing of human face for robotic head Amir-II

Shafie, Amir Akramin and Iqbal, Aseef and Khan, Md. Raisuddin (2010) Visual tracking and servoing of human face for robotic head Amir-II. In: International Conference on Computer and Communication Engineering (ICCCE 2010), 11-13 May 2010, Kuala Lumpur.

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Abstract

In this paper, visual tracking and servoing of human face are implemented through image processing. A robotic humanoid head named Amir-II, equipped with web cam and servoing mechanism is used as the platform. The robotic head tracks the human face within the field-of-vision (FOV) while the servoing mechanism ensures the detected human face remains at the center of its FOV. The algorithm developed in this research utilizes the capability offered by scientific computing program MATLAB along with its Image Processing Toolbox. The algorithm basically compares the locations of the face in the image plane that is detected from the static face image captured from real-time video stream. The calculated difference is then used to produce appropriate motion command for the servo mechanism to keep track of the human face moving within the range of its FOV. © 2010 IEEE.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	5119/3182
Uncontrolled Keywords:	humanoid head, face detection, visual servoing, SMQT, split-up SNoW classifier, Matlab, Image processing
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr Amir Shafie
Date Deposited:	10 Oct 2011 12:04
Last Modified:	13 Nov 2011 16:18
URI:	http://irep.iium.edu.my/id/eprint/3182

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