Patent US 6,732,016

An identification environment determining method includes converting a captured image into digital information, detecting a face area of a person from the digital image to store the face area, and identifying the person using a stored image and face image information that is referred for identification, informing a user about a result of identification acquired, inputting information obtained by having the user judge whether the result of identification is correct or incorrect, determining whether a present lighting environment is suitable for identification, controlling a robot, and moving the robot.