| Summary: | 碩士 === 國立成功大學 === 工程科學系碩博士班 === 98 === Nowadays, service robots roaming in public areas, institute or company buildings, and exhibition courts can provide a variety of functions like human machine interactions, guiding, entertainments, exhibitions and security surveillances. This paper proposes for service robots an active tracking system integrated with sound direction and face recognition, which is realized with two integrated sub-systems, an embedded sound direction recognition sub-system and an active visual surveillance sub-system, respectively for human interaction and security surveillance purpose. The operation of the embedded sound direction recognition sub-system is majorly for acquiring and processing audio signal from a microphone array. It has been realized as a complete sound source recognition system with one single processor. While the major operation of the active visual surveillance sub-system is, via a remote controlled active camera, to acquire video images and, after real time processing, to perform scene monitoring, face detection, face tracking and face recognition. To evaluate its feasibility, in the study this sound direction and face recognition based active tracking system is integrated into a service robot for realizing its hearing and visual ability capable for a variety of applications.
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