Abstract:
A method and apparatus for taking a picture are provided, in which a mobile apparatus detects a current position of a mobile apparatus, moves from the current position to a predetermined position to take a picture, information about an ambient image around the mobile apparatus through the image sensor, after the movement, analyzes characteristics of the received image information, compares the analyzed characteristics with a predetermined picture-taking condition, controls the mobile apparatus for the characteristics of the image information to satisfy the predetermined picture-taking condition, if the characteristics of the image information do not satisfy the predetermined picture-taking condition, and takes a picture, if the characteristics of the image information satisfy the predetermined picture-taking condition.

Description:
CLAIM OF PRIORITY 
       [0001]    This application claims the benefit of the earlier filing date, under 35 U.S.C. §119(a), Korean Patent Application filed in the Korean Intellectual Property Office on Aug. 7, 2007 and assigned Serial No. 2007-79240, the entire disclosure of which is hereby incorporated by reference. 
       BACKGROUND OF THE INVENTION 
       [0002]    1. Field of the Invention 
         [0003]    The present invention relates to photography. More particularly, the present invention relates to an apparatus and method for taking a photograph by a robot. 
         [0004]    2. Description of the Related Art 
         [0005]    Owing to the development of science and technology, robots have been finding their uses in a wider range of applications including industrial, medical, undersea, and home ones. For example, when an industrial robot is set to do what a human hand is supposed to do, it can repeatedly do the job. Also, a cleaning robot can clean in a manner similar to that of a person, e.g., vacuuming, floor washing, etc. 
         [0006]    In the area of photography photographer robots equipped with a camera module may capture an object according to a user&#39;s command, convert the captured image to data, and store the image data. 
         [0007]    However, a user may decide when the photographer robot should take a photograph and adjust the composition of a photograph each time a photograph is taken. This is inconvenient as the user may he required to be present or within a field of view of the robot. 
         [0008]    Hence, there is a need in the industry for an apparatus and method for automatically determining when to take a picture, without user intervention. 
       SUMMARY OF THE INVENTION 
       [0009]    An aspect of exemplary embodiments of the present invention is to address at least the problems and/or disadvantages and to provide at least the advantages described below. 
         [0010]    Accordingly, an aspect of exemplary embodiments of the present invention is to provide an apparatus and method for automatically determining when to take a picture. 
         [0011]    Another aspect of exemplary embodiments of the present invention provides an apparatus and method for automatically adjusting picture composition. 
         [0012]    In accordance with an aspect of exemplary embodiments of the present invention, there is provided a method for taking a picture in a mobile apparatus that has an image sensor for receiving image data and automatically takes a picture according to user setting, in which a current position of the mobile apparatus is detected, the mobile apparatus is moved from the current position to a predetermined position to take a picture, information about an ambient image around the mobile apparatus is received through the image sensor, after the movement, characteristics of the received image information are analyzed and compared with a predetermined picture-taking condition, the mobile apparatus is controlled so that the characteristics of the image information to satisfy the predetermined picture-taking condition, if the characteristics of the image information do not satisfy the predetermined picture-taking condition, and a picture is taken, if the characteristics of the image information satisfy the predetermined picture-taking condition. 
         [0013]    In accordance with another aspect of exemplary embodiments of the present invention, there is provided a mobile apparatus for automatically taking a picture according to user setting, in which a camera module has an image sensor for receiving image data, a driver drives a motor for rotating or moving the mobile apparatus, a characteristic extractor detects at least one of a size, a position, and a number of face image data from image data, a position estimator and movement decider detects a current position of the mobile apparatus and calculates a movement direction and a movement distance from the current position to a picture-taking position, and a controller detects the current position, moves from the current position to the picture-taking position, receives information about an ambient image around the mobile apparatus through the image sensor, analyzes characteristics of the received image information, compares the analyzed characteristics with a predetermined picture-taking condition, controls the mobile apparatus for the characteristics of the image information to satisfy the predetermined picture-taking condition, if the characteristics of the image information do not satisfy the predetermined picture-taking condition, and takes a picture, if the characteristics of the image information satisfy the predetermined picture-taking condition. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0014]    The above and other objects, features and advantages of certain exemplary embodiments of the present invention will be more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: 
           [0015]      FIG. 1  illustrates the movement path of a photographer robot according to an exemplary embodiment of the present invention; 
           [0016]      FIG. 2  is a block diagram of the photographer robot according to an exemplary embodiment of the present invention; 
           [0017]      FIG. 3  is a flowchart illustrating an operation for taking pictures in the photographer robot according to an exemplary embodiment of the present invention; 
           [0018]      FIG. 4  is a flowchart illustrating an operation for taking a group picture in the photographer robot according to an exemplary embodiment of the present invention; 
           [0019]      FIG. 5  is a flowchart illustrating an operation for taking a close-up picture in the photographer robot according to an exemplary embodiment of the present invention; 
           [0020]      FIG. 6  is a flowchart illustrating an operation for taking a very close-up picture in the photographer robot according to an exemplary embodiment of the present invention; and 
           [0021]      FIG. 7  illustrates exemplary pictures taken by the photographer robot according to an exemplary embodiment of the present invention. 
       
    
    
       [0022]    Throughout the drawings, the same drawing reference numerals will be understood to refer to the same elements, features and structures. 
       DETAILED DESCRIPTION OF THE INVENTION 
       [0023]    The matters defined in the description such as a detailed construction and elements are provided to assist in a comprehensive understanding of exemplary embodiments of the invention. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, in some cases, descriptions of well-known functions and constructions are omitted for clarity and conciseness so as not to obscure the novel elements described herein. 
         [0024]      FIG. 1  illustrates the movement path of a photographer robot according to an exemplary embodiment of the present invention. 
         [0025]    For notational simplicity, it is assumed herein that a photographer robot  101  is equipped with a camera module in the head and the head rotates up, down, left and night continuously with stops at predetermined angles. For instance, the photographer robot  101  may rotate upward at an angle of up to 30 degrees, downward at an angle of up to 15 degrees, left at an angle of up to 60 degrees, and right at an angle of up to 60 degrees or any angle between. In another aspect the robot  101  may rotate upward at an angle of up to 90 degrees, downward at an angle of up to 90 degrees, left at an angle of up to 90 degrees, and right at an angle of up to 90 degrees or any angle between. 
         [0026]    Referring to  FIG. 1 , a user registers one or more picture-taking locations for the photographer robot  101  and the photographer robot  101  takes pictures, moving to the registered picture-taking locations. For example, the user beforehand registers first to fourth picture-taking locations  103 ,  105 ,  107  and  109 , respectively. Upon request from the user, the photographer robot  101  takes pictures, moving from the first picture-taking location  103  to the second, third and fourth picture-taking locations  105 ,  107  and  109 . 
         [0027]    When the photographer robot  101  takes pictures of people at a picture-taking location, the pictures may include at least one of at least one group picture, at least one close-up picture, and/or at least one of a very close-up picture or one or more people within the group. In addition, the photographer robot  101  may take a predetermined sequence of pictures at a location. Fore example, robot  101  may sequentially take a group picture first, and then close-up and very close-up pictures, respectively. 
         [0028]    A group picture refers to a picture of as many persons as possible. When taking a group picture, the photographer robot  101  analyzes image data received from the camera module and determines whether human faces are detected. If the human faces are detected, the photographer robot  101  automatically controls a picture composition by controlling the magnification of the camera module and rotating its head up, down, left and right according to information about the detected human faces (positions, sizes, number, etc.) and then takes a group picture. If no human face is detected, the photographer robot  101  rotates its head up, down, left and right until a human face is detected from image data received from the camera module. If the camera module is provided in the body of the photographer robot  101  the photographer robot  101  can rotate the body left and right at predetermined angles until a human face is detected in image data received from the camera module. 
         [0029]    The photographer robot  101  determines whether a group picture-taking termination condition has been satisfied. If the group picture-taking termination condition has been satisfied, the photographer robot  101  prepares for taking a close-up picture. The group picture-taking termination condition can be set based on the number of group pictures taken so far. For example, if the number of group pictures taken so far is equal to or larger than a reference group picture number, the photographer robot  101  can prepare for taking a close-up picture. If the group picture-taking termination condition has not been satisfied, the photographer robot  101  takes another group picture. 
         [0030]    A close-up picture refers to a picture of M to (M+m) persons. M is a minimum number of persons to be taken in a close-up picture and M+m is a maximum number of persons to be taken in a close-up picture. When taking a close-up picture, the photographer robot  101  increases the optical magnification of the camera module according to a known image magnification ratio and detects a human face by analyzing an image projected onto the camera module. Then the photographer robot  101  determines whether M to (M+m) human faces have been detected. If M to (M+m) human faces have been detected, the photographer robot  101  automatically controls the picture composition by adjusting the magnification of the camera module and rotating its head up, down, left and right according to information about the detected human faces (positions, sizes, number, etc.) and then takes a close-up picture. After taking the picture, the photographer robot  101  may rotate its head up, down, left and right at predetermined angles. The photographer robot  101  detects human faces by analyzing an image projected onto the camera module. On the other hand, if the number of detected human faces does not fall into the range from M to (M+m), the photographer robot  101  rotates its head up, down, left and right and detects human faces from an image projected onto the camera module. 
         [0031]    The photographer robot  101  determines whether a close-up picture-taking termination condition has been satisfied. If the close-up picture-taking termination condition has been satisfied, the photographer robot  101  prepares for taking a very close-up picture. The close-up picture-taking termination condition can be set based on the number of close-up pictures taken so far. For example, if the number of close-up pictures taken so far is equal to or larger than a reference number of close-up pictures, the photographer robot  101  can prepare for taking a very close-up picture, considering that the close-up picture-taking termination condition has been satisfied. If the close-up picture-taking termination condition has not been satisfied, the photographer robot  101  may take another close-tip picture. 
         [0032]    A very close-up picture refers to a picture of N to (N+n) persons, where the number N is less than the number M. N is a minimum number of persons to be taken in a very close-up picture and N+n is a maximum number of persons to be taken in a very close-up picture. When taking a very close-up picture, the photographer robot  101  rotates at a through an angle or moves toward persons and detects human faces by analyzing an image projected onto the camera module. Then the photographer robot  101  determines whether N to (N+n) human faces have been detected. If N to (N+n) human faces have been detected, the photographer robot  101  automatically controls the picture composition by adjusting the magnification of the camera module and rotating its head up, down, left and right according to information about the detected human faces (positions, sizes, number, etc.) and then takes a very close-up picture. After taking the very close-up picture, the photographer robot  101  may rotate its head up, down, left and right. The photographer robot  101  detects human faces by analyzing an image projected onto the camera module. On the other hand, if the number of detected human faces does not fall into the range from N to (N+n), the photographer robot  101  rotates its head up, down, left and right to detect additional human faces from an image projected onto the camera module. 
         [0033]    The photographer robot  101  determines whether a very close-up picture-taking termination condition has been satisfied. If the very close-up picture-taking termination condition has been satisfied, the photographer robot  101  may move to a next picture-taking location. The very close-up picture-taking termination condition may be set based on the number of very close-up pictures taken so far. For example, if the number of very close-up pictures taken so far is equal to or larger than a reference number of very close-up pictures, the photographer robot  101  may terminate taking the very close-up pictures, considering that the very close-up picture-taking termination condition has been satisfied. If the very close-up picture-taking termination condition has not been satisfied, the photographer robot  101  may take another very close-up picture. 
         [0034]    The picture-taking operation of the photographer robot  101  in the case where the user registers picture-taking locations in advance has been described with reference to  FIG. 1 . If the user does not register picture-taking locations, the photographer robot  101  may take pictures, moving along obstacle-free edges (i.e. walls), for example. 
         [0035]      FIG. 2  is a block diagram of the photographer robot according to an exemplary embodiment of the present invention. 
         [0036]    Referring to  FIG. 2 , the photographer robot  101  includes at least a controller  201 , a camera module  203 , a characteristic extractor  205 , a memory  209 , a location estimator and movement decider  211 , a movement operator  213 , a communication module  215 , and a display  217 . 
         [0037]    The camera module  203  is provided with an I mage sensor and has zoom-in and zoom-out functions. The camera module  203  converts an image projected onto the image sensor to digital image data and provides the digital image data to the controller  201 . 
         [0038]    The memory  209  stores data for activating the photographer robot  101 . In one aspect of the invention, the memory  209  stores captured (or taken) picture data in an image storage  207  according to the present invention. The picture data is a kind of image data that the controller  201  requests to be stored. An image database refers to a set of image data pre-stored by the user, and a map database refers to a set of map data corresponding to a building where the photographer robot  101  is located. 
         [0039]    The location estimator and movement decider  211  determines the current location of the photographer robot  101  or determines whether to move the photographer robot  101 . When the user registers picture-taking locations, the location estimator and movement decider  211  determines the current location of the photographer robot  101  referring to the current building map data, calculates a direction that the photographer robot  101  should take and a distance for which the photographer robot  101  should move from the current location, and notifies the controller  201  of the direction and distance according to the present invention. 
         [0040]    The movement operator  213  rotates the photographer robot  101  left and right or moves it forward and backward by rotating a wheel in the body or moving legs if the robot is equipped with such locomotion features. The movement operator  213  may also direct the rotation of the head of the photographer robot  101  up, down, left and right. 
         [0041]    The characteristic extractor  205  receives image data from the controller  201 , detects face image data from the received image data by a face detection algorithm, and determines the sizes, locations, and number of the detected face image data. Notably, the characteristic extractor  205  may use a single or a plurality of face detection algorithms in detecting the face image data. The characteristic extractor  205  may also determine whether the detected face image data exists in the stored image database by comparing the detected face image data with the image database in a face recognition algorithm. In the presence of the detected face image data in the image database, the characteristic extractor  205  identifies persons corresponding to the detected face image data. 
         [0042]    The communication module  215  communicates with an external server or another robot. The photographer robot  101  can receive information about a picture-taking spot, building map data, the position of the robot, etc from the user via the communication module  215 . 
         [0043]    The display  217  displays image information input from the image sensor and the predetermined image-taking condition. 
         [0044]    The controller  201  controls the components of the photographer robot  101  to provide functions including photography. Especially when picture-taking locations are received from the user, the controller  201  registers them on the current building map data searched from the map database according to the present invention. Upon receipt of a picture-taking request from the user, the controller  201  controls the location estimator and movement decider  211  to move the photographer robot  101  to a picture-taking location. After a group picture-taking function has been invoked, the controller  201  receives image data from the camera module  203 , provides the image data to the characteristic extractor  205 , and controls the characteristic extractor  205  to detect face image data from the receive image data. 
         [0045]    The characteristic extractor  205  also determines whether the sizes, positions, and number of the detected face image data satisfy a predetermined group picture-taking condition. The group picture-taking condition is set to check whether the image data received from the camera module  203  is a group image. Hence, the group picture-taking condition can specify predetermined sizes, positions, distribution, and number of face image data. If the received image data satisfies the group picture-taking condition, the controller  201  stores the image data in the memory  209 , thus creating group picture data. On the other hand, if the received image data does not satisfy the group picture-taking condition, the controller  201  controls the movement operator  213  to rotate the header of the photographer robot  101  up, down, left and right to thereby automatically compose the image composition of a group picture. If the camera module  203  resides in the body of the photographer robot  101 , the photographer robot  101  can rotate its body left and right until a human face is detected in image data received from the camera module  203 . 
         [0046]    After creating the group picture data, the controller  201  determines whether a group picture-taking termination condition has been satisfied. The group picture-taking termination condition is set for terminating the group picture-taking function. It can be the number of group pictures taken by the group picture-taking function. If the group picture-taking termination condition has been satisfied, the controller  201  may start a close-up picture-taking function. If the group picture-taking termination condition has not been satisfied, the controller  201  continues the group picture-taking function. 
         [0047]    When the close-up picture-taking function starts, the controller  201  controls the camera module  203  to zoom in and receives new image data from the camera module  203 . The controller  201  provides the image data to the characteristic extractor  205 , controls the characteristic extractor  205  to detect the number, positions, and sizes of face image data, and determines whether the detected number, positions, and sizes satisfy a close-up picture-taking condition. The close-up picture-taking condition is set to check whether the image data received from the camera module  203  is a close-up image. Hence, the close-up picture-taking condition can specify predetermined sizes, positions, distribution, and number of face image data. 
         [0048]    If the received image data satisfies the close-up picture-taking condition, the controller  201  stores the image data in the memory  209 , thus creating close-up picture data. On the other hand, if the received image data does not satisfy the close-up picture-taking condition, the controller  201  controls the movement operator  213  to rotate the head of the photographer robot  101  up, down, left and right to adjust the image composition of a close-up picture. If the camera module  203  resides in the body of the photographer robot  101 , the photographer robot  101  can rotate its body left and right until a human face is detected in image data received from the camera module  203 . 
         [0049]    After creating the close-up picture data, the controller  201  determines whether a close-up picture-taking termination condition has been satisfied. The close-up picture-taking termination condition is set for terminating the close-up picture-taking function. It can be the number of close-up pictures taken by the close-up picture-taking function. If the close-up picture-taking termination condition has been satisfied, the controller  201  starts a very close-up picture-taking function. If the close-up picture-taking termination condition has not been satisfied, the controller  201  continues the close-up picture-taking function. 
         [0050]    When the very close-up picture-taking function begins, the controller  201  controls the movement operator  213  to move the photographer robot  101  toward objects, for example, and receives new image data from the camera module  203 . The controller  201  provides the image data to the characteristic extractor  205 , controls the characteristic extractor  205  to detect the number, positions, and sizes of face image data, and determines whether the detected number, positions, and sizes satisfy a very close-up picture-taking condition. The very close-up picture-taking condition is set to check whether the image data received from the camera module  203  is a very close-up image. Hence, the very close-up picture-taking condition can specify predetermined sizes, positions, distribution, and number of face image data. 
         [0051]    If the received image data satisfies the very close-up picture-taking condition, the controller  201  stores the image data in the memory  209 , thus creating very close-up picture data. On the other hand, if the received image data does not satisfy the very close-up picture-taking condition, the controller  201  controls the movement operator  213  to rotate the head of the photographer robot  101  up, down, left and right to automatically compose the image of a very close-up picture. If the camera module  203  resides in the body of the photographer robot  101 , the photographer robot  101  can rotate its body left and right until a human face is detected in image data received from the camera module  203 . 
         [0052]    After creating the very close-up picture data, the controller  201  determines whether a very close-up picture-taking termination condition has been satisfied. The very close-up picture-taking termination condition is set for terminating the very close-up picture-taking function. It can be the number of very close-up pictures taken by the very close-up picture-taking function. If the very close-up picture-taking termination condition has been satisfied, the controller  201  ends the very close-up picture-taking function. If the very close-up picture-taking termination condition has not been satisfied, the controller  201  continues the very close-up picture-taking function. 
         [0053]    When the very close-up picture-taking function is completed, the controller  201  determines whether the current status of the photographer robot  101  satisfies a picture-taking location changing condition. The picture-taking location changing condition is set to move the photographer robot  101  to the next picture-taking location. The picture-taking location changing condition can specify a reference picture-taking time and a reference picture data number for a picture-taking location. If the picture-taking location changing condition has been satisfied, the controller  201  controls the photographer robot  101  to move to the next picture-taking location. If the picture-taking location changing condition has not been satisfied, the controller  201  resumes the very close-up picture-taking function. 
         [0054]    If the user has not registered picture-taking locations, the controller  201  searches the memory  209  for a map of a building where the photographer robot  101  is located and automatically registers one or more picture-taking locations along edges shown on the searched building map. Then the controller  201  controls picture taking at the automatically registered picture-taking locations in the above-described procedure. 
         [0055]      FIG. 3  is a flowchart illustrating an operation for taking pictures in the photographer robot according to an exemplary embodiment of the present invention. 
         [0056]    For notational simplicity, it is assumed that the user registers picture-taking locations beforehand. 
         [0057]    Referring to  FIG. 3 , the controller  201  searches for a map of a building where the photographer robot  101  is located in the map database stored in the memory  209  and determines the current location of the photographer robot  101  on the building map in step  301 . 
         [0058]    In step  303 , the controller  201  determines whether the photographer robot  101  is supposed to start taking a picture at the current location. If the current location is a start picture-taking location, the controller  201  proceeds to step  305 . If the current location is not the start picture-taking location, the controller  201  goes to proceeds  319 . 
         [0059]    In step  319 , the controller  201  controls the location estimator and movement decider  211  to calculate a direction and a distance for the photographer robot  101  to move to a start picture-taking location, moves the photographer robot  101  for the distance in the direction, and then proceeds to step  305 . 
         [0060]    At step  305 , the controller  201  generates group picture data by the group picture-taking function. Then the controller  201  proceeds to step  307 . Step  305  will be described in more detail with reference to  FIG. 4 . 
         [0061]    Referring to  FIG. 4 , the controller  101  controls the characteristic extractor  205  to detect face image data from image data received from the camera module  203  at step  401 . The characteristic extractor  205  can determine the sizes, positions, and number of the detected face image data. 
         [0062]    At step  403 , the controller  201  determines whether the image data satisfies the group picture-taking condition. If the image data satisfies the group picture-taking condition, the controller  201  proceeds to step  405  and if the image data does not satisfy the group picture-taking condition, the controller  201  proceeds to step  409 . The group picture-taking condition is set to check whether the image data received from the camera module  203  is group image data. Hence, the group picture-taking condition specifies predetermined sizes, positions, distribution, and number of face image data. 
         [0063]    In step  409 , the controller  201  controls the operator  213  to rotate the head of the photographer robot  101  up, down, left and right to thereby automatically the picture composition of a group picture, and then returns to step  401 . 
         [0064]    At step  405 , the controller  201  creates group picture data using the received image data and stores the group picture data in the memory  209 . Then the controller  201  proceeds to step  407 . 
         [0065]    At step  407 , the controller  201  determines whether the group picture-taking termination condition has been satisfied. The group picture-taking termination condition is set for terminating the group picture-taking function. It can be the number of group picture data created by the group picture-taking function. 
         [0066]    If the group picture-taking termination condition has been satisfied, the controller  201  terminates the group picture-taking function. If the group picture-taking termination condition has not been satisfied, the controller  201  changes the current group picture composition and receives image data according to the changed group picture composition at step  409 . 
         [0067]    Returning to  FIG. 3 , after completion of the group picture function, the controller  201  controls the camera module  203  to zoom in at step  307  and to create close-up picture data by the close-up picture-taking function in step  309 . Then the controller  201  proceeds to step  311 . Step  309  will be detailed with reference to  FIG. 5 . 
         [0068]    Referring to  FIG. 5 , the controller  201  controls the characteristic extractor  205  to detect face image data from image data received from the camera module  203  in step  501 . Herein, the characteristic extractor  205  detects the number, positions, and sizes of the detected face image data. 
         [0069]    At step  503 , the controller  201  determines whether the received image data satisfies the close-up picture-taking condition. The close-up picture-taking condition is set to check whether the image data received from the camera module  203  is a close-up image data. Hence, the close-up picture-taking condition can specify predetermined sizes, positions, distribution, and number of face image data. 
         [0070]    If the received image data does not satisfy the close-up picture-taking condition, the controller  201  controls the operator  213  to rotate the header of the photographer robot  101  up, down, left and right to automatically compose the image of a close-up picture at step  509  and then returns to step  501 . 
         [0071]    If the received image data satisfies the close-up picture-taking condition, the controller  201  creates close-up picture data using the received image data and stores the close-up picture data in the memory  209  at step  505  and proceeds to step  507 . 
         [0072]    At step  507 , the controller  201  determines whether the close-up picture-taking termination condition has been satisfied. The close-up picture-taking termination condition is set for terminating the close-up picture-taking function. The termination condition may be the number of close-up picture data created by the close-up picture-taking function. 
         [0073]    If the close-up picture-taking termination condition has been satisfied, the controller  201  terminates the close-up picture-taking function. If the close-up picture-taking termination condition has not been satisfied, the controller  201  changes the current close-up picture composition and receives image data according to the changed close-up picture composition in step  509 . 
         [0074]    Returning to  FIG. 3 , the controller  201  controls the operator  213  to move the photographer robot  101  to move toward objects, for example, in step  311 . 
         [0075]    At step  313 , the controller  201  receives very close-up picture data captured by the very close-up picture-taking function. Then the controller  201  proceeds to step  315 . Step  313  will be described in more detail with reference to  FIG. 6 . 
         [0076]    Referring to  FIG. 6 , the controller  201  controls the characteristic extractor  205  to detect face image data from image data received from the camera module  203  at step  601 . The characteristic extractor  205  can detect a number, positions, and sizes of the face image data. At step  603 , the controller  201  determines whether the received image data satisfies the very close-up picture-taking condition. The very close-up picture-taking condition is set to check whether the image data received from the camera module  203  is a very close-up image. Hence, the very close-up picture-taking condition determines whether at least one of a specify predetermined size and/or number of face image data has been satisfied. 
         [0077]    If the received image data does not satisfy the very close-up picture-taking condition, the controller  201  controls the operator  213  to rotate the head of the photographer robot  101  up, down, left and right to compose the image of a very close-up picture at step  609  and returns to step  601 . 
         [0078]    If the received image data satisfies the very close-up picture-taking condition, the controller  201  creates very close-up picture data using the received image data and stores the very close-up picture data in the memory  209  in step  605  and proceeds to step  607 . 
         [0079]    At step  607 , the controller  201  determines whether the very close-up picture-taking termination condition has been satisfied. The very close-up picture-taking termination condition is set for terminating the very close-up picture-taking function. The termination condition may, of example, be the number of very close-up picture data created by the very close-up picture-taking function. 
         [0080]    If the very close-up picture-taking termination condition has been satisfied, the controller  201  ends the very close-up picture-taking function. If the very close-up picture-taking termination condition has not been satisfied, the controller  201  changes the current very close-up picture composition and receives image data according to the changed very close-up picture composition in step  609 . 
         [0081]    Returning to  FIG. 3 , the controller  201  determines whether the photographer robot  101  satisfies the picture-taking location changing condition in step  315 . The picture-taking location changing condition is set to move the photographer robot  101  to the next picture-taking location. The picture-taking location changing condition can specify a reference picture-taking time and a reference picture data number for a picture-taking location. 
         [0082]    If the picture-taking location changing condition has been satisfied, the controller  201  proceeds to step  317 . If the picture-taking location changing condition has not been satisfied, the controller  201  proceeds to step  313 . 
         [0083]    In step  317 , the controller  201  controls the location estimator and movement decider  211  to determine whether the current picture-taking location is a last picture-taking location. If the current picture-taking location is the last picture-taking location, the controller  201  ends all picture-taking functions. If the current picture-taking location is not the last picture-taking location, the controller  201  proceeds to step  321 . 
         [0084]    At step  321 , the controller  201  searches for the next picture-taking location in the pre-registered picture-taking locations, controls the location estimator and movement decider  211  to calculate a direction and a distance for the photographer robot  101  to move to the next picture-taking location, and controls the operator  213  to move the photographer robot  101  for the distance in the direction. Then the controller  201  returns to step  305  to continue the picture-taking functions. 
         [0085]      FIG. 7  illustrates exemplary pictures taken by the photographer robot according to an exemplary embodiment of the present invention. 
         [0086]    Referring to  FIG. 7 , reference numeral  701  denotes a group picture taken by the group picture-taking function. The photographer robot  101  controls the picture composition so that the group picture  701  includes as many persons as possible and creates group picture data according to the controlled picture composition. 
         [0087]    Reference numeral  703  denotes a close-up picture taken by the close-up picture-taking function. If the close-up picture-taking condition specifies seven or eight face image data, the photographer robot  101  controls the picture composition so that the close-up picture  703  includes seven persons and creates close-up picture data according to the controlled picture composition. 
         [0088]    Reference numeral  705  denotes a very close-up picture taken by the very close-up picture-taking function. If the very close-up picture-taking condition specifies one, or two face image data, for example, the photographer robot  101  controls the picture composition so that the close-up picture  705  includes two persons and creates very close-up picture data according to the controlled picture composition. 
         [0089]    As is apparent from the above description, the present invention advantageously decides when to take pictures automatically and controls picture composition automatically. Therefore, a user can take pictures by a photographer robot without the need for moving the photographer robot for each picture and commanding the photographer robot to take a picture. 
         [0090]    The above-described methods according to the present invention can be realized in hardware or as software or computer code that can be stored in a recording medium such as a CD ROM, an RAM, a floppy disk, a hard disk, or a magneto-optical disk or downloaded over a network, so that the methods described herein can be rendered in such software using a general purpose computer, or a special processor or in programmable or dedicated hardware, such as an ASIC or FPGA. As would be understood in the art, the computer, the processor or the programmable hardware include memory components, e.g., RAM, ROM, Flash, etc. that may store or receive software or computer code that when accessed and executed by the computer, processor or hardware implement the processing methods described herein. 
         [0091]    While the invention has been shown and described with reference to certain exemplary embodiments of the present invention thereof, they are merely exemplary applications. For example, while the group picture-taking condition, the close-up picture-taking condition, or the very close-up picture-taking condition specifies the number and sizes of face image data, it may further specify the illuminance and value of face image data. Also, while the picture-taking condition is set using face recognition in the exemplary embodiments of the present invention, it can be set using image data of an object extracted by object recognition. Also, the present invention can be used for not only the picture-taking but also video image-taking. 
         [0092]    In addition, while it has been described that the camera module is provided in the head of the photographer robot  101 , the camera module can be positioned in the body of the photographer robot  101 . Thus, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims and their equivalents.