Recognition of Multi-user Facial Expression and Its Ambient Atmosphere Identification System for Human-Robot Interaction
Date Issued
2012
Date
2012
Author(s)
Lin, Pei-Hsien
Abstract
Since technology developed rapidly and societal evolvement progressively, people begin to pursue higher quality of life and the requirements in social welfare, medical care, home care, education and other services are increased. With the progress of intelligent robot industry, how to integrate robots into the daily life and how robots provide a comfortable, safe and healthy life become common visions in both academia and industry in recently years. Thus, the development of intelligent robot industry has been one of the priority prospects of industries. Among these, facial expression and ambient atmosphere recognition have become one of significant issues in Human-Robot Interaction.
Emotional interaction with human beings is desirable for robots. The objective of this thesis is to implement an integrated system which has ability to track multiple people at the same time, to recognize their facial expressions, and to identify social ambiance. Consequently, the intelligent robot with vision systems can acquire the information of the ambient atmosphere and further interacts with people properly. Optical flow and component-based active appearance model are applied for facial features alignment and tracking. In our facial expression recognition scheme, we fuse Feature Vectors based Approach (FVA) and Differential-Active Appearance Model (AAM) Features based Approach (DAFA) to obtain not only apposite positions of feature points, but also more information about texture and appearance. With the obtained useful information, FVA can classify the emotions according to comparison with the distances and ratios of feature points, and DAFA can distinguish emotions from classical machine learning on a low dimensional manifold space. Furthermore, emotion recognition of multiple people at the same time is extended. Based on the proposed algorithm, multiple person emotion analysis and social ambient atmosphere identification can be achieved, which makes the relationship between people and robots much closer.
All the systems, user interface, software and applications proposed in this thesis are implemented with C++ programming language in Windows platform. With relative stable facial features extraction, the proposed algorithm is implemented in robots developed in our laboratory at the International Center of Excellence on Intelligent Robotics and Automation Research (iCeiRA) at National Taiwan University.
Subjects
Alignment and Tracking of Facial Features
Active Appearance Model (AAM)
Facial Expression Recognition
Ambient Atmosphere Identification
Human-Computer Interactions
SDGs
Type
thesis
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