Intelligent Appearance and shape based facial emotion recognition for a humanoid robot

In this paper, we present an intelligent facial emotion recognition system with real-time face tracking for a humanoid robot. The system is able to detect facial actions and emotions from images with up to 60 degrees of pose variations. We employ the Active Appearance Model to perform real-time face tracking and extract both texture and geometric representations of images. A POSIT algorithm is also used to identify head rotations. The extracted texture and shape features are employed to detect 18 facial actions and seven basic emotions. The overall system is integrated with a humanoid robot platform to further extend its vision APIs. The system is proved to be able to deal with challenging facial emotion recognition tasks with various pose variations.