To enable a robot to perform robust tracking of an object against the unstable recognition of the object after suspension of the tracking by the robot performing an interrupting action or caused by the change of the external environment, etc.
The tracking system of the robot device comprises: hierarchical recognition parts 15 having different image recognition levels consisting of a complexion recognition part 11, a face recognition part 12, an individual recognition part 13, and a voice direction recognition part 14 for recognizing the direction of voice, etc.; a recognition integrating part 21 having a control part for controlling the device to start tracking of the face of a person based on the result of recognition of the individual recognition part 13 and continue the tracking based on the result of recognition of the other recognition parts such as the face recognition part 12 on the failure of recognition of the individual recognition part 13; and a predicting part 31 for controlling the device to continue the tracking for the predicted direction of the object based on the result of recognition obtained until just before, if the results can not be obtained from the other recognition parts.
COPYRIGHT: (C)2005,JPO&NCIPI
Hideki Shimomura
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Eiichi Tamura
Seiji Iga
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