Visual tracking of a moving person for a home robot

Kai-Tai Song*, Chen Chu Chien

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

6 Scopus citations


This paper presents a visual tracking system for a home robot to pursue a person. The system works by detecting a human face and tracking a person via controlling a two-degree-of-freedom robot head and the robot body. An image processing system has been developed to extract facial features using a complementary metal-oxide semiconductor (CMOS) web camera. An algorithm is proposed to recognize a human face by using skin colour and elliptical edge information of a human face. A digital signal processing (DSP)-based motor control card is designed and implemented for robot motion control. The visual tracking control system has been integrated on a self-constructed prototype home robot. Experimental results show that the robot tracks a person in real-time.

Original languageEnglish
Pages (from-to)259-269
Number of pages11
JournalProceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Issue number4
StatePublished - 1 Jun 2005


  • Human-robot interaction
  • Image processing
  • Intelligent robots
  • Tracking control

Fingerprint Dive into the research topics of 'Visual tracking of a moving person for a home robot'. Together they form a unique fingerprint.

Cite this