Real-time image processing of human face identification for home service robot

This paper presents a real-time image processing of human face identification for home service robot (HSR). This vision system is set up by two individual sub-systems. The first one is face detection and tracking sub-system based on adaptive skin detector, condensation filter with parallel computing particles, and Haar-like classifier. And a simple and fast motion predictor is also proposed for face tracking. The second is face recognition system based on embedded HMM (EHMM) with parallel training and recognition procedures. In order to reach a fast, robust, efficient, this study used extensible parallel integrated vision system (PIVS). Finally, real-time experimental results on different humans in different unknown scenes demonstrate that the proposed PIVS is indeed feasible, simple and safe.