DocumentCode :
663665
Title :
A real time and robust facial expression recognition and imitation approach for affective human-robot interaction using Gabor filtering
Author :
Cid, Felipe ; Prado, Jose Augusto ; Bustos, Pablo ; Nunez, P.
Author_Institution :
Robot. & Artificial Vision Lab. Robolab Group, Univ. of Extremadura, Badajoz, Spain
fYear :
2013
fDate :
3-7 Nov. 2013
Firstpage :
2188
Lastpage :
2193
Abstract :
Facial expressions are a rich source of communicative information about human behavior and emotion. This paper presents a real-time system for recognition and imitation of facial expressions in the context of affective Human Robot Interaction. The proposed method achieves a fast and robust facial feature extraction based on consecutively applying filters to the gradient image. An efficient Gabor filter is used, along with a set of morphological and convolutional filters to reduce the noise and the light dependence of the image acquired by the robot. Then, a set of invariant edge-based features are extracted and used as input to a Dynamic Bayesian Network classifier in order to estimate a human emotion. The output of this classifier updates a geometric robotic head model, which is used as a bridge between the human expressiveness and the robotic head. Experimental results demonstrate the accuracy and robustness of the proposed approach compared to similar systems.
Keywords :
Gabor filters; belief networks; edge detection; emotion recognition; face recognition; feature extraction; human-robot interaction; image classification; Gabor filtering; affective human-robot interaction; communicative information; convolutional filter; dynamic Bayesian network classifier; facial expression imitation approach; geometric robotic head model; gradient image; human behavior; human emotion; human expressiveness; invariant edge-based feature extraction; morphological filter; real time facial expression recognition; robust facial expression recognition; robust facial feature extraction; Bayes methods; Face recognition; Facial features; Feature extraction; Image edge detection; Robustness;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
ISSN :
2153-0858
Type :
conf
DOI :
10.1109/IROS.2013.6696662
Filename :
6696662
Link To Document :
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