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...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Computer science Journals
2011
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/18428/ http://irep.iium.edu.my/18428/1/18428.pdf |
| _version_ | 1848778195248087040 |
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| 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 |
| building | IIUM Repository |
| collection | Online Access |
| 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. |
| first_indexed | 2025-11-14T14:58:01Z |
| format | Article |
| id | iium-18428 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T14:58:01Z |
| publishDate | 2011 |
| publisher | Computer science Journals |
| recordtype | eprints |
| repository_type | Digital Repository |
| 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) |
| 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. |
| title | 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_short | 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. |
| topic | TK7885 Computer engineering |
| url | http://irep.iium.edu.my/18428/ http://irep.iium.edu.my/18428/1/18428.pdf |