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We have proposed a new approach for solving a fundamental issue in HRI, that is, how to properly detect and identify people in everyday environments since some conditions might make it a difficult task. For that, fisheye cameras are used since they provide panoramic vision and one or two of them allow to cover the whole workspace. A modified background maintenance approach was developed for fast,...
This paper presents a visual surveillance system for mobile robots using omnidirectional and PTZ cameras. By combining the advantages of these two types of cameras, it provides not only the surveillance of the surrounding area of the robot, but also observe every corner of the indoor environment. Furthermore, the system is mounted on a mobile robot platform, which is able to move around the environment...
A new noise reduction method suitable for autonomous mobile robots was proposed and applied to preprocessing of a hands-free spoken dialogue system. When a robot talks with a conversational partner in real environments, not only speech utterances by the partner but also various types of noise, such as directional noise, diffuse noise, and noise from the robot, are observed at microphones. We attempted...
A camera can assist a robot to detect and track objects when it is used in a scout robot system, and hence, help the robot to navigate. This paper discusses problems of tracking a human face where an active camera is installed on a 2 DOF pan and tilt. Kinematics model between object in motion and image of camera is built. The face detection and tracking algorithm is introduced which uses complexion...
Interactive mobile robots require object/subject detection in very visually complex environments. In the field of computer vision, specially when applied to robotics, several approaches like face detection, face recognition and pedestrian detection often have to deal with issues associated to bad illumination and strong featured background. These issues imply lack of performance because human detection...
Recently, we have proposed a real-time tracker that simultaneously tracks the 3D head pose and facial actions in monocular video sequences that can be provided by low quality cameras. This paper has two main contributions. First, we propose an automatic 3-D face pose initialization scheme for the real-time tracker by adopting a 2-D face detector and an eigenface system. Second, we use the proposed...
This paper proposed the face detection and tracking system using a embedded computing system for humanoid robot environment which allows the user to observe of recognize an unknown person. For detection faces in image sequence, the system uses the skin color model and deformable ellipse matching. Faces in a view are detected by maximizing the image gradient magnitude around the perimeter of the ellipse...
Face detection nowadays is one of the most promising applications of image analysis and processing. One emerging application field is human-robot interaction. For many applications in this field (including face identification and expression recognition) the precision of facial feature detection and the computational burden are both critical issues. This paper presents a completely tunable hybrid method...
In this paper, we develop a robot which can detect and track a human face for the purpose of developing an autonomous robot that communicates with people. In order to detect a human face from a camera image, we pay attention to flesh color of a person and develop two techniques for detecting and pursuing a flesh-colored area as a face. The developed robot models a human head. We install two USB cameras...
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