人臉偵測在影像監視、人臉辨識和人臉資料庫管理的前置作業中佔了非常重要的腳色，本論文系統將以純硬體數位電路設計出一人臉偵測的重要前置步驟:膚色定位，並將其應用在自走車追蹤測距系統，結合膚色定位模組、雷射測距儀控制模組與馬達控制模組，以控制攝影機使其能跟隨人臉做移動。
系統以FPGA純硬體的方式設計系統，並以DE2-70作實現，與PC作業系統比起來具有體積微小化及節省資源的優點；而與軟硬體共同設計相比，雖然較SOPC系統複雜，但在系統穩定性與處理速度上都會更加優異。

Face detection is an important and required step in the system of face recognition, video surveillance, and the library of human faces. This thesis design a skin color tracking system with digital circuits, and it is the prerequisite for the Face detection method. And then integrating a mobile robot system for tracking target and distance estimating with the skin color segmenting module , laser scanner controller , and motor controller.

This thesis is built with hardware circuits, and implementing by a single Field Programmable Gate Array (FPGA) chip. First, comparing this system with the past PC operation system, the volume of whole system could be minor, and the amount of compute elements would be lesser too.
Then, we compare it with the co-operation system between hardware and software, although the pure hardware circuits system is more difficult to design, but if it is built to module successfully, the stability and the operating speed would be better than the co-operation system.

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