Face Detection and Auto Positioning for Robotic Vision System

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Muralindran Mariappan 1,* Tan Wei Fang 1 Manimehala Nadarajan 1 Norfarariyanti Parimon 1

1. Robotics and Intelligent Systems Research Group Faculty of Engineering, Universiti Malaysia Sabah, 88400 Kota Kinabalu, Sabah, Malaysia

* Corresponding author.

DOI: https://doi.org/10.5815/ijigsp.2015.12.01

Received: 1 Aug. 2015 / Revised: 29 Aug. 2015 / Accepted: 6 Oct. 2015 / Published: 8 Nov. 2015

Index Terms

Face detection, auto positioning, skin colour segmentation, servo motor


Robotic vision system has taken a great leap in the field of robotics. Vision system is an essential tool to be implemented in a robot for visual communication between robot and human especially in the application of Tele-Diagnostic Robot. The robot vision system must always be in the field of view. The ability for the vision system to automatically track the person in communication is crucial for the remote medical specialist. To circumvent this problem, a face detection technique is implemented and it is performed using skin color segmentation with two color space which are YCbCr and HSV. Besides that, morphological operations are also done to detect the face region accurately. Two DOF servo mechanism were designed to ensure that the servo motor rotates to centralize the detected face region. A real-time testing were conducted and it was found that this system results a good performance.

Cite This Paper

Muralindran Mariappan, Tan Wei Fang, Manimehala Nadarajan, Norfarariyanti Parimon,"Face Detection and Auto Positioning for Robotic Vision System ", IJIGSP, vol.7, no.12, pp.1-9, 2015. DOI: 10.5815/ijigsp.2015.12.01


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