A mobile robot that recognizes people

In order for mobile robots to interact effectively with people they will have to recognize faces. We describe a robot system that finds people, approaches them and then recognizes them. The system uses a variety of techniques: color vision is used to find people; vision and sonar sensors are used to approach them; a template-based pattern recognition algorithm is used to isolate the face; and a neural network is used to recognize the face. All of these processes are controlled using an intelligent robot architecture that sequences and monitors the robot's actions. We present the results of many experimental runs using an actual mobile robot finding and recognizing up to six different people.