Efficient second-order minimization combined with fuzzy control-based visual tracking of a moving face

Abstract

This paper presents a visual feedback control system that is based on an efficient second-order minimization algorithm and can be used to track a moving face. This study aims to control a camera installed at the end of a three-degreeof-freedom robot arm and fix its orientation with respect to a moving face so that the face remains at a constant position in the image. In this work, the efficient second-order minimization algorithm is used to feed back the orientation of the two-dimensional human face. Then, an intelligent fuzzy algorithm is utilized by the tracking system to allow it to both track and become synchronized with the movement of the face. In addition, a Kalman filter is implemented to create an improved performance of the prediction of the position of the face. The applied control scheme is tested in tracking experiments on a moving face performed using a robot system with a camera installed on its end-effecter and the proposed scheme is shown to be an effective approach to the considered problem.