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Tham khảo tài liệu 'humanoid robots human-like machines part 11', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Towards an Interactive Humanoid Companion with Visual Tracking Modalities 391 system allows giving them a weak strength in the unified likelihood cost against 11 . They do not introduce any improvement with respect to their position on the arm but their benefit comes in the form of inside outside information which complements the contours especially when they failed. This permitted the tracking of the arms even when they got out of the fronto-parallel plane thanks to all the patches Figure 12 . For the second scenario Figure 13 the tracker deals with significantly more complex scene but tracks also the full sequence without failure. This scenario takes clearly benefit from the introduction of discriminant patches as their colour distributions are far from uniform ones. This leads to higher values of confidence dedicated to the likelihood p zck xk namely . In these challenging operating conditions two heuristics allow jointly to release from distracting clutter that might partly resemble human body parts for instance the cupboard pillar1 . On the one hand estimating the edges density in the first frame highlights that shape cue is not a confident one in this context so its confidence level in the global cost 19 is reduced accordingly during the tracking process i.e. l . On the other hand optical flow weights the importance relative to the foreground and background contours thanks to the likelihood . i i l- k. If considering only contour cues in the likelihood the tracker would attach itself to cluttered zones and consequently lose the target. This tracker relates to the module TPB in the Jido s software architecture see section 7.1 . 7. Integration on robotic platforms dedicated to human-robot interaction 7.1 Integration on a robot companion 7.1.1 Outline of the overall software architecture The above visual functions were embedded on a robot companion called Jido. Jido is equipped with i a 6-DOF arm ii a pan-tilt stereo system at the top of a mast dedicated to .