Real time face detection using geometric constraints, navigation and depth-based skin segmentation on mobile robots

Author

Vo Duc My ; Masselli, Andreas ; Zell, Andreas

Author_Institution

Comput. Sci. Dept., Univ. of Tuebingen, Tubingen, Germany

fYear

2012

fDate

16-18 Nov. 2012

Firstpage

180

Lastpage

185

Abstract

Face detection is an important component for mobile robots to interact with humans in a natural way. Various face detection algorithms for mobile robots have been proposed; however, almost all of them have not yet met the requirements of the accuracy and the speed to run in real time on a robot platform. In this paper, we present a method of combining color and depth images provided by a Kinect camera and navigation information for face detection on mobile robots. This method is shown to be very fast and accurate and runs in real time in indoor environments.

Keywords

cameras; face recognition; geometry; human-robot interaction; image colour analysis; image segmentation; indoor environment; mobile robots; robot vision; skin; Kinect camera; color images; depth images; depth-based skin segmentation; geometric constraints; indoor environments; mobile robots; navigation; navigation information; real time face detection; Detectors; Face; Face detection; Navigation; Robot kinematics; Skin;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotic and Sensors Environments (ROSE), 2012 IEEE International Symposium on

Conference_Location

Magdeburg

Print_ISBN

978-1-4673-2705-3

Type

conf

DOI

10.1109/ROSE.2012.6402617

Filename

6402617