esp32 S3 AI cam module

Hi there, I would avoid frame comparison for this project. It detects movement rather than a person, so it can become unreliable when the camera starts rotating or when there is movement in the background.

The ESP32-S3 AI Camera already has an official Edge Impulse person-detection example:

https://wiki.dfrobot.com/dfr1154/docs/21372

Source code and the model are available here:

https://github.com/DFRobot/DFR1154_Examples/tree/master/6.3%20edgeimpulse

You can use the detected person's horizontal position and compare it with the center of the image. If the person is left or right of the center, send that position to the Romeo Mini and move the pan servo a small amount.

This older project may also be useful as a reference for the servo tracking logic, although it uses a different ESP32 camera board:

https://github.com/AshishA26/Turret-Face-Tracker

Since the children maybe wearing costumes, person detection will probably work better than face detection. I would first get the official person-detection example running, then add the servo movement in small steps with a center dead zone to prevent shaking.