10 VII July 2022

https://doi.org/10.22214/ijraset.2022.45380
 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.538
Volume 10 Issue VII July 2022- Available at www.ijraset.com

Live Face Tracking Robot Arm

Manasa S1, Dr. Swetha Rani T2, Sneha R3, Sonal Jain4, Swathi C L5
Dept. Of Electronics and Communications, AMC Engineering College.

Abstract: This paper presents the design and implementation of a robotic arm integrated with computer vision. As robotics
continues to become a more integral part of the industrial complex, there is a need for automated systems that require minimal
to no user training to operate. With this motivation in mind, we have developed a robotic arm embedded with face-tracking
technology that can be operated offline. We were able to achieve this using Arduino Uno for implementing the embedded part,
collaborating the same with the OpenCV library for face tracking. Thereby, developing a multipurpose robotic arm.
Keywords: Face-tracking, Arduino Uno, computer vision

I. INTRODUCTION
The design, development, and implementation of a live face tracking robotic arm are mentioned in this work. Robots are machines
that are quicker and have greater power than humans. Robotics is defined because they have a look at, design, and alertness. Robots
with rotating joints are referred to as articulated robots. The term "axes" is utilized in robotics to consult those joints. A servo motor
is a kind of motor extensively used to electricity articulated robots. Servo vehicles could have as few as axes or as many as ten or
greater. Four to 6 axes are common in commercial robots. Six axes are the maximum not unusual place in commercial programs. A
face tracking system is a camera-primarily based tool that may music the motion of 1 or greater faces over time. The gadget lets you
to music human faces in first-rate detail. After manually initializing the given face, a face-processing venture inspects the
succeeding video. Using the robot arm to carry out face monitoring has allowed us to exactly design, generate, and check gadgets
that require panning the examined tool to a particular angular role even as the computation is running. The fundamental goal of this
task is to carry out the detection and monitoring of faces from the real-time enter video. The enter video circulation has received the
use of a webcam or every other stay video acquisition device. The video is processed with the aid of using dividing them into
frames. Each body is tested for a face. Once the face is spotted, a bounding field is drawn around it. The algorithms permit the
robotic to routinely become aware of an item in a video and interpret it as a fixed trajectory to expect in which it'll stop up. The first
step in monitoring an item is to come across it. The monitoring of the face is completed with the assistance of an Arduino
microcontroller. It is efficaciously carried out to take a look at human moves in suburban areas, parking oodles, and banks. In visitor
transportation, item monitoring is extensively used to address drift monitoring, a twist of face detection, pedestrian counting, and
many others. Another key utility of item monitoring is in video compression to automatically come across and music-shifting items
in films. As a consequence, extra coding bytes are allocated to shifting items and fewer coding bytes are used for backgrounds.
Object monitoring additionally has numerous HCI packages consisting of hand gesticulation identification, cellular video
conferencing, etc.
This has a look at goals to enhance security, especially in sturdy rooms which include the ones used to keep reaction papers. The
films may be captured through the CCTV manage gadget, however, the cony catchers cannot be stopped earlier than they motive
problems. Due to its giant programs in virtual video management, surveillance, and human interactions, face monitoring has been a
warm subject matter in latest years. The design, development, and implementation of a stay-face monitoring robotic arm are
mentioned in this work.

II. LITERATURE SURVEY

A. A human Tracking Mobile Robot with Face Detection
Authors: Satoru Suzuki, Yasue Mitsukura, Takanari Tanabata, Tsukuba, Ibaraki, Japan, Nobutaka Kimura, Tsukuba Ibaraki, Japan,
Toshio Moriya
Abstract: face detection method for tracking a human by a mobile-robot. We obtain images from a web camera, and detect faces by
focusing on skin colors and eyes as facial features. If we detect faces from images, we trace the detected human, take a picture of
him/her, and print it automatically by using the mobile-robot. In order to show the effectiveness of the proposed method, we show
the experimental results. Firstly, in the face detection, we show the face detection accuracy. Then, in the human tracking with
mobile-robot by using face detection, we show the tracking performance.

©IJRASET: All Rights are Reserved | SJ Impact Factor 7.538 | ISRA Journal Impact Factor 7.894 | 847
 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.538
Volume 10 Issue VII July 2022- Available at www.ijraset.com

B. Moving object detection, tracking and following using an omnidirectional camera on a mobile robot
Authors: S Ranganatha , Y P Gowramma(Dept. of Computer Science and Engineering, Government Engineering College, Hassan,
India)
Face detection and tracking algorithms are used in computer vision applications due to the fact that they provide reliable and fast
results. This paper describes a model for face tracking in video sequences using Open Source Computer Vision (OpenCV) software
library. To increase the face tracking accuracy, we propose a real time face tracking algorithm based on integration of Continuously
Adaptive Mean Shift (CAMShift) and kalman filter. First, haar cascade detects face in the video sequence; once the face is detected
then other parts like eyes, nose and mouth are detected. After successful face region detection, key-points are extracted using
Speeded Up Robust Features (SURF) framework and CAMShift algorithm applied. CAMShift algorithm calculates width, height
and (x, y) coordinates of the face region, which is provided to kalman filter. Kalman filter calculates new center and size of the
bounding box. Based on the center information, face tracking takes place in further frames. The experimental results at the end of
this paper clearly indicate that the proposed algorithm integrating CAMShift and kalman filter is better to each single approach.
Using this algorithm, we can achieve faster speed in face tracking.

C. Research on Image Processing Technology of Computer Vision Algorithm

Authors: Xin Zhang , St.Petersburg Polytechnic University, Gzhatskaya Ulitsa, 38,St Petersburg
Shuo Xu, University of Edinburgh, Shangrao City, Jiangxi Province
Abstract:With the gradual improvement of artificial intelligence technology, image processing has become a common technology
and is widely used in various fields to provide people with high-quality services. Starting from computer vision algorithms and
image processing technologies, the computer vision display system is designed, and image distortion correction algorithms are
explored for reference.

III. METHODOLOGY
In close to future, robots are going to have an excellent role in human‟s life. Their usages might be contained a huge variety of
ranges and certainly considered one among their common factors might be interacting with human beings. So, with the purpose to
have a humanoid interaction, robots ought to have the cap potential of detecting, monitoring, and responding to items or people.
Therefore, a sturdy correct set of rules which has the opportunity of enforced in a quick time is required. A real-time set of rules is
stepped one for having an actual interaction, that‟s why the researchers attempt to use much less complex algorithms and they might
be given that those algorithms may also have a few disadvantages. They additionally ought to take into account the end result
accuracy, as in recent times the robots are used in lots of expert extraordinary factors. A combination of being actual time and
enforcing correct might be the favored end result for masses of studies areas.

Figure1: flow chart

©IJRASET: All Rights are Reserved | SJ Impact Factor 7.538 | ISRA Journal Impact Factor 7.894 | 848
 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.538
Volume 10 Issue VII July 2022- Available at www.ijraset.com

IV. SYSTEM DESIGN

A face tracking device is a camera-primarily based total tool that could tune the motion of 1 or greater faces over time. The device
permits you to tune human faces in super detail. After manually initializing the given face, a face-processing venture inspects the
succeeding video. Using the robot arm to carry out face monitoring has allowed us to exactly design, generate, and check gadgets
that require panning the examined tool to a selected angular role even as the computation is running.
The face detector implemented in OpenCV is used in many face-based applications. OpenCV (Open Source Computer Vision
Library) is an open source computer vision and machine learning software library. Using this software library we were able to
capture the live video feed i.e. face and process it . The basic techniques for face normalization, face subspace estimation, abd face
recognition can be found in the CSU face identification evaluation system. Once the face is detected by the web camera , that signal
information is sent to the arduino uno through serial communication . Now, arduino uno will trigger the arduino program that has to
coded in arduino IDE which in turn commands the motos to run accordingly.

Figure 2: Circuit Simulation Figure 3: Assembled model

V. APPLICATION
Face tracking is effectively applied to observe human actions in suburban areas, parking oodles, and banks. In traffic transportation,
face tracking is widely used to handle flow monitoring, accident detection, pedestrian counting, and many others. Another key
application of face tracking is in video compression to robotically detect and track moving objects in videos. As a consequence,
more coding bytes are allotted to moving objects and fewer coding bytes are used for backgrounds. Object tracking also has several
HCI applications such as hand gesticulation identification, mobile video conferencing and etc

VI. FUTURE SCOPE

There is usually greater room for innovation in any study. In addition to development, the robot arm may be located on a cell
platform with four wheels to permit portability and navigation. This will boom the attain of the robot arm and it could without
problems capable of select out and region to another. We also can alternate the kind of gripper for distinctive operations, as there are
numerous styles of stop effectors to be had withinside the market.

VII. CONCLUSION
In this chapter, we present a completely automated real-time face tracking technology mounted on a robotic that could capture a live
video feed from a web camera, then use the face tracking technology to discover face positions, and perceive the detected
faces.Some fields are well worth investigating to gain higher performance. In the face popularity procedure, if the heritage is just too
cluttered to seize a clean foreground, the popularity charge will decrease.

©IJRASET: All Rights are Reserved | SJ Impact Factor 7.538 | ISRA Journal Impact Factor 7.894 | 849
 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.538
Volume 10 Issue VII July 2022- Available at www.ijraset.com

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©IJRASET: All Rights are Reserved | SJ Impact Factor 7.538 | ISRA Journal Impact Factor 7.894 | 850