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An improved face detection and recognition method based on information of skin color and depth obtained by binocular vision system was proposed in this paper. With this method, the face area was detected firstly by using Adaboost algorithm. Afterwards, the real face was distinguished from fake one by using the skin color information and the depth data. Then, by using PCA algorithm, a specific face can be recognized by comparing the principal components of the current face to those of the known individuals in a facial database built in advance. This method was applied to a service robot equipped with a binocular camera system for real-time face detection and recognition experiment, and satisfactory results were obtained.