Real-Time Face Tracking for Tele-Operated Mobile Robot with an Embedded System

Author

Shin, H.C. ; Lim, E.G. ; Hwang, D.H.

Author_Institution

Intelligent Robot Res. Div., Electron. & Telecommun. Res. Inst., Daejeon

fYear

2006

Firstpage

2985

Lastpage

2988

Abstract

In this research a mobile service robot with an i.MX21 embedded system and tele-operation server are developed. Because the robot system hands over complex jobs to the remote tele-operation server, we can make low cost and high performance mobile robot. A fuzzy control tele-operation algorithm for user face tracking and approaching is proposed and verified. With an i.MX21 embedded system and a tele-operation server, the developed mobile service robot can find human face and approach to robot users for 97% probability within 3m distance. The robot can provide various audio, visual and gesture services for education and entertainment in front of robot user. Remote robot users can utilize this robot for security service of audio and visual monitoring

Keywords

client-server systems; embedded systems; face recognition; fuzzy control; mobile robots; probability; service robots; telerobotics; education; entertainment; fuzzy control tele-operation algorithm; i.MX21 embedded system; probability; real-time face tracking; remote robot users; tele-operated mobile service robot; tele-operation server; user face tracking; Costs; Educational robots; Embedded system; Face; Fuzzy control; Humans; Mobile robots; Real time systems; Remote monitoring; Service robots; Embedded system; Face tracking; Fuzzy control; Mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE-ICASE, 2006. International Joint Conference

Conference_Location

Busan

Print_ISBN

89-950038-4-7

Electronic_ISBN

89-950038-5-5

Type

conf

DOI

10.1109/SICE.2006.314992

Filename

4108150