HRI for interactive humanoid head Amir-II for visual tracking and servoing of human face.
In this paper, we describe the HRI (Human-Robot Interaction) system developed to operate a humanoid robot head capable of visual tracking and servoing of human face through image processing. The robotic humanoid head named Amir-II, equipped with a camera and servoing mechanism is used as the plat...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Computer science Journals
2011
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/18428/1/18428.pdf http://irep.iium.edu.my/18428/ |
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| Institution: | Universiti Islam Antarabangsa Malaysia |
| Language: | English |
| Summary: | In this paper, we describe the HRI (Human-Robot Interaction) system developed to operate a
humanoid robot head capable of visual tracking and servoing of human face through image
processing. The robotic humanoid head named Amir-II, equipped with a camera and servoing
mechanism is used as the platform. The Amir-II 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. |
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