Robotlar için aktif işitsel-görsel insan takibi

In this thesis, a multimodal system is designed in the form of an active audio-visual perception in order to improve the perceptual capability of a robot in a noisy environment. The system running in real-time uses 1) audition modality, 2) a complementary vision modality and 3) motion modality incorporating intelligent behaviors based on the data obtained from both sensory modalities. In this system, the detection, localization and tracking of the speaker are the main tasks of audition and vision modalities independently.