Nowadays, most robots are able to follow the moving object indoor with camera already set in the environment. Putting camera on the robot and track the moving object outside dynamically makes this problem hard to solve since the vibration of the robot and noisy estimation of the object’s position in the real-time. We would like to propose a proper control algorithm to solve this problem. Tracing human face becomes much more difficult since robot needs to detect the human face on board and estimate the position of the face dynamically in the real time. When people tend to turn around with the side face, the existing algorithm for the face detection fails to recognize the face completely. As a result, we’d like to solve this problem with side face detection, estimation of the face position in the world coordinate to make the robot track face outdoor successfully.
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