Automatic Initialization for Facial Analysis in Interactive Robotics

Automatic Initialization for Facial Analysis in Interactive Robotics,10.1007/978-3-540-79547-6_50,Ahmad Rabie,Christian Lang,Marc Hanheide,Modesto Cas

Automatic Initialization for Facial Analysis in Interactive Robotics   (Citations: 2)
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The human face plays an important role in communication as it allows to discern dierent interaction partners and provides non- verbal feedback. In this paper, we present a soft real-time vision system that enables an interactive robot to analyze faces of interaction part- ners not only to identify them, but also to recognize their respective facial expressions as a dialog-controlling non-verbal cue. In order to as- sure applicability in real world environments, a robust detection scheme is presented which detects faces and basic facial features such as the po- sition of the mouth, nose, and eyes. Based on these detected features, facial parameters are extracted using active appearance models (AAMs) and conveyed to support vector machine (SVM) classifiers to identify both persons and facial expressions. This paper focuses on four dierent initialization methods for determining the initial shape for the AAM al- gorithm and their particular performance in two dierent classification tasks with respect to either the facial expression DaFEx database and to the real world data obtained from a robot's point of view.
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