Patrick Goebel of PI Robot has put together an excellent tutorial on doing 3D head tracking with ROS. In Part 1 he covers configuring TFs, setting up the URDF model and configuration of Dynamixel AX-12+ servos for controlling the pan and tilt of a Kinect.
Besides more accurate depth estimation, one benefit of using a 3D sensor to perform head tracking is that it allows for the rejection of false positives by providing a means for the robot to distinguish between a person's head and a picture of a person's head.
You may also be interested in his previous tutorial on OpenCV Head Tracking.
[From: ros-users]
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