Abstract
a robust human robot interface system for intelligent robot commands based only on hand gesture is developed. It has a triple-stage face detection scheme and a FLC-Kalman filter to track current user position in a dynamic and cluttered working environment. Through the combined classifier of PCA and BPANN, the commands defined by facial positions and hand gestures are identified by dynamic programming for real-time controls of a mobile robot. The results show that the system accurately perform real-time face detection and tracking robustly at a speed of 8 frames per second.
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