公开(公告)号：US20180032794A1

公开(公告)日：2018-02-01

申请号：US15348641

申请日：2016-11-10

Applicant: UBTECH ROBOTICS CORP.

Inventor： YUAN JI ,  YOUJUN XIONG

IPC: G06K9/00 ,  B25J9/00 ,  G06T7/00

CPC classification number: G06K9/00228 ,  B25J9/0003 ,  G06K9/00201 ,  G06K9/00268 ,  G06K9/4614 ,  G06K9/6278 ,  G06T7/0051 ,  G06T7/50

Abstract: A face detecting and tracking method includes: acquiring an image and performing a depth detection for the image to obtain a depth value of each pixel of the image; determining one or more face candidate areas based on depth value of each pixel of the image of current frame; performing a face detection to the one or more face candidate areas to determine one or more face boxes of the image of current frame; and determining a tracking box of the image of current frame based on the one or more face boxes and a tracked face box, and tracking the face in the tracking box of the image of current frame.