Face detection and tracking with an active camera

This paper consider the problem of face detection and tracking with an active camera. An algorithm using the mean-shift method for face detection has been presented. We propose an algorithm that provides automated control of a pan-tilt camera (PTC) to follow a personpsilas face and keep his image centered in the camera view. An error vector defined in the image plane and representing the face offset with respect to the center of the image is used for camera control. Adaptive feedback control design and stability analysis are performed via Lyapunov techniques. Simulation results are presented to illustrate the effectiveness of the proposed algorithms.