METHOD FOR CLOSELY MOVING A ROBOT TO A USER, CAPABLE OF GRASPING A LOCATION DIRECTION OF THE USER BY DETECTING A FACE ON A SCREEN

摘要

PURPOSE: A method for closely moving a robot to a user is provided to move the robot to a specific user closely by finding the specific user effectively.;CONSTITUTION: A face detector detects at least one face in a photographed image(325). A face cluster generator generates at least one face cluster by clustering the detected faces according to a face size(330). An approximate distance calculator obtains an average face area which is the average of faces included in a random face cluster among the generated face clusters(340). The approximate distance calculator obtains an approximate distance between the robot and the average face area using the size of the average face area(345). A movement controller moves the robot toward the average face area(350). The movement control part performs face recognition for each face included in the face cluster, and moves the robot toward the user if a specific user is found(365).;COPYRIGHT KIPO 2013;[Reference numerals] (310) Photograph an image at a certain angle; (315) Photographed at all angles?; (320) Rotate a robot; (325) Detect a face in each angle image; (330) Generate clusters by face size using the detected faces; (335) Select a face cluster; (340) Obtain an average face area; (345) Calculate the approximate distance and direction of the average face area; (350) Move the robot toward the average face area; (355) Perform facial recognition for each face included in the face clusters; (360) The wanted user is included?; (365) Approach to the found user; (AA) Start; (BB,DD) No; (CC,EE) Yes; (FF) End