I’m currently working a bit on Animabot’s software (Raspberry Pi side). I developed a small application for the Head Tracking which will be used on the robot. The application is developed in Python and using TkInter for the GUI. The software is using the standard Face Detection from OpenCV.

The program checks for face to detect, then provide the Head center position regarding the center of the video. It also sends the position trough UART is order to link the Pi to another board if needed (in my case, to the STM32F4). Or through socket if you want to use the info internally in the Pi. The output coordinates are filtered to have a more accurate position and avoid too much jitter.