AN INTELLIGENT FACE TRACKING SYSTEM FOR HUMAN-ROBOT INTERACTION USING CAMSHIFT TRACKING ALGORITHM

Vision plays an important role in perception to enable communication in a better way either in Human-Human orHuman-Robot interaction system. Visual attention enhances the understanding of intent in communication, e.g. Eye gaze,orientation of face, etc. In this paper, we propose an intelligent vision system that tracks the human face. To realize thesystem we integrate Viola Jones Face detector, Eye detector and the Camshift algorithm. Camshift algorithm relies on backprojected probabilities and it can fail to track the object due to appearance change caused by background, camera movementand illumination. Eye detector is used as verifier while initializing the Camshift algorithm and later in face tracking. Theproposed system is implemented on Lego Mindstorm NXT Robot platform and good tracking results were obtained, in thesense that the Robot and the camera were able to position in such a way that the frontal face is contained.