For a good interaction, the robot must have as much as possible information about the people around itself.
One way to get this information is some image processing with a camera (FireWire ) located in the left eye of the robot. The goal of this program is to make(visitor-)face tracking based on skin color.

Some more filters (shape, area, eye or mouth recognition) are implemented to erase errors.Finally the face tracking is used in two modes

:1) Give information to the main program to have good interactions

2) Give the position of one person to the eyes to make the robot "looking at someone" moving its eyes towards the person tracked.

Developper@ASL:
- Gilles Froidevaux

Other contact:
- Adrian Hilti (diploma project in face tracking)