HRI for interactive humanoid head Amir-II for visual tracking and servoing of human face.

HRI for interactive humanoid head Amir-II for visual tracking and servoing of human face.

In this paper, we describe the HRI (Human-Robot Interaction) system developed to operate a humanoid robot head capable of visual tracking and servoing of human face through image processing. The robotic humanoid head named Amir-II, equipped with a camera and servoing mechanism is used as the plat...

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Main Authors: Iqbal, Aseef, A Shafie, Amir, Khan, Md. Raisuddin, Alias, Mohd Farid, Radhi, Jamil
Format: Article
Language:English
Published: Computer science Journals 2011
Subjects:
TK7885 Computer engineering
Online Access:http://irep.iium.edu.my/18428/
http://irep.iium.edu.my/18428/1/18428.pdf
id iium-18428
recordtype eprints
spelling iium-184282012-02-10T01:01:02Z http://irep.iium.edu.my/18428/ HRI for interactive humanoid head Amir-II for visual tracking and servoing of human face. Iqbal, Aseef A Shafie, Amir Khan, Md. Raisuddin Alias, Mohd Farid Radhi, Jamil TK7885 Computer engineering In this paper, we describe the HRI (Human-Robot Interaction) system developed to operate a humanoid robot head capable of visual tracking and servoing of human face through image processing. The robotic humanoid head named Amir-II, equipped with a camera and servoing mechanism is used as the platform. The Amir-II tracks the human face within the field-of-vision (FOV) while the servoing mechanism ensures the detected human face remains at the center of its FOV. The algorithm developed in this research utilizes the capability offered by scientific computing program MATLAB along with its Image Processing Toolbox. The algorithm basically compares the locations of the face in the image plane that is detected from the static face image captured from real-time video stream. The calculated difference is then used to produce appropriate motion command for the servo mechanism to keep track of the human face moving within the range of its FOV. Computer science Journals 2011 Article PeerReviewed application/pdf en http://irep.iium.edu.my/18428/1/18428.pdf Iqbal, Aseef and A Shafie, Amir and Khan, Md. Raisuddin and Alias, Mohd Farid and Radhi, Jamil (2011) HRI for interactive humanoid head Amir-II for visual tracking and servoing of human face. International Journal of Robotics and Automation (IJRA), 2 (3). pp. 220-231. ISSN 2180-1312 (online)
repository_type Digital Repository
institution_category Local University
institution International Islamic University Malaysia
building IIUM Repository
collection Online Access
language English
topic TK7885 Computer engineering
spellingShingle TK7885 Computer engineering
Iqbal, Aseef
A Shafie, Amir
Khan, Md. Raisuddin
Alias, Mohd Farid
Radhi, Jamil
HRI for interactive humanoid head Amir-II for visual tracking and servoing of human face.
description In this paper, we describe the HRI (Human-Robot Interaction) system developed to operate a humanoid robot head capable of visual tracking and servoing of human face through image processing. The robotic humanoid head named Amir-II, equipped with a camera and servoing mechanism is used as the platform. The Amir-II tracks the human face within the field-of-vision (FOV) while the servoing mechanism ensures the detected human face remains at the center of its FOV. The algorithm developed in this research utilizes the capability offered by scientific computing program MATLAB along with its Image Processing Toolbox. The algorithm basically compares the locations of the face in the image plane that is detected from the static face image captured from real-time video stream. The calculated difference is then used to produce appropriate motion command for the servo mechanism to keep track of the human face moving within the range of its FOV.
format Article
author Iqbal, Aseef
A Shafie, Amir
Khan, Md. Raisuddin
Alias, Mohd Farid
Radhi, Jamil
author_facet Iqbal, Aseef
A Shafie, Amir
Khan, Md. Raisuddin
Alias, Mohd Farid
Radhi, Jamil
author_sort Iqbal, Aseef
title HRI for interactive humanoid head Amir-II for visual tracking and servoing of human face.
title_short HRI for interactive humanoid head Amir-II for visual tracking and servoing of human face.
title_full HRI for interactive humanoid head Amir-II for visual tracking and servoing of human face.
title_fullStr HRI for interactive humanoid head Amir-II for visual tracking and servoing of human face.
title_full_unstemmed HRI for interactive humanoid head Amir-II for visual tracking and servoing of human face.
title_sort hri for interactive humanoid head amir-ii for visual tracking and servoing of human face.
publisher Computer science Journals
publishDate 2011
url http://irep.iium.edu.my/18428/
http://irep.iium.edu.my/18428/1/18428.pdf
first_indexed 2023-09-18T20:27:31Z
last_indexed 2023-09-18T20:27:31Z
_version_ 1777408516143710208

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