Title :
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
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;
Conference_Titel :
Robotic and Sensors Environments (ROSE), 2012 IEEE International Symposium on
Conference_Location :
Magdeburg
Print_ISBN :
978-1-4673-2705-3
DOI :
10.1109/ROSE.2012.6402617
