| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot device capable of discriminating a person even under an environment with inconstant lighting condition as domestic environment. SOLUTION: This device is provided with a person discrimination device comprising an image gaining means for gaining an image, a head detecting and tracking means for detecting a human's head from the image, a front face positioning means for gaining a front face image from the detected partial image of the head, a face characteristic extracting means for converting the front face image to characteristic quantity, a face discriminating means for discriminating the person from the characteristic quantity by the use of a discrimination dictionary and a discrimination dictionary memory means for storing the discrimination dictionary; a general control part for controlling the operation of a robot; a voice output means for generating a voice according to the instruction of the general control part; and a moving means for moving the robot according to the instruction of the general control part. |
