Face Tracking System using Embedded Computer for Robot System

This paper proposed the face detection and tracking system using a embedded computing system for humanoid robot environment which allows the user to observe and recognize an unknown person. For detection of faces in image sequence, this system uses the skin color model and deformable ellipse matching. Faces in a view are detected by maximizing the image gradient magnitude around the perimeter of the ellipse (or face line) and the number of skin color pixels in the ellipse area. The information of detected face regions are stored online into a face state table and are evaluated for tracking in real-time. This state table's information is gotten and image sequence is processed by wireless camera. And we can process data by zigbee wireless module. Results of this processing are applied to embedded humanoid robot. The robot can detect human's face and react to it. After this processing, the result is sent to the embedded humanoid robot through zigbee wireless module. The robot that got this data acts to detect human's face and react to it