Abstract

This paper describes a system developed for a mobile service robot which detects and tracks the position of a user's face in 3D-space using a vision (skin color) and a sonar based component. To make the skin color detection robust under varying illumination conditions, it is supplied with an automatic white balance algorithm. The hypothesis of the user's position is used to orient the robot's head towards the current user allowing it to grab high resolution images of his face suitable for verifying the hypothesis and for extracting additional information.

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