{"id":337,"date":"2009-05-20T11:31:21","date_gmt":"2009-05-20T09:31:21","guid":{"rendered":"http:\/\/www.mpateraki.org\/?p=337"},"modified":"2015-01-27T11:47:22","modified_gmt":"2015-01-27T09:47:22","slug":"337","status":"publish","type":"post","link":"https:\/\/mpateraki.org\/?p=337","title":{"rendered":"Tracking of facial features to support human-robot interaction"},"content":{"rendered":"<p><strong>Pateraki M.<\/strong>, Baltzakis H., Kondaxakis P., Thahanias P., 2009. Tracking of facial features to support human-robot interaction. In: Proc. IEEE International Conference on Robotics and Automation (ICRA), 12-17 May, Koebe, Japan. [<a href=\"http:\/\/dx.doi.org\/10.1109\/ROBOT.2009.5152600\" target=\"_blank\">doi<\/a>] [<a href=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2014\/11\/1058.pdf\" target=\"_blank\">pdf<\/a>] [<a href=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2015\/01\/pateraki09.txt\" target=\"_blank\">bib<\/a>]<\/p>\n<p>Abstract:<\/p>\n<p>In this paper we present a novel methodology\u00a0for detection and tracking of facial features like eyes, nose\u00a0and mouth in image sequences. The proposed methodology\u00a0is intended to support natural interaction with autonomously\u00a0navigating robots that guide visitors in museums and exhibition\u00a0centers and, more specifically, to provide input for the\u00a0analysis of facial expressions that humans utilize while engaged\u00a0in various conversational states. For face and facial feature\u00a0region detection and tracking, we propose a methodology that\u00a0combines appearance-based and feature-based methods for\u00a0recognition and tracking, respectively. For the stage of face\u00a0tracking the introduced method is based on Least Squares\u00a0Matching (LSM), a matching technique able to model effectively\u00a0radiometric and geometric differences between image patches\u00a0in different images. Thus, compared with previous research, the\u00a0LSM approach can overcome the problems of variable scene\u00a0illumination and head in-plane rotation. Another significant\u00a0characteristic of the proposed approach is that tracking is\u00a0performed on the image plane only wherever laser range\u00a0information suggests so. The increased computational efficiency\u00a0meets the real time demands of human-robot interaction\u00a0applications and hence facilitates the development of relevant\u00a0systems.<\/p>\n<table align=\"center\">\n<tbody align=\"center\">\n<tr align=\"center\">\n<td align=\"center\" width=\"33%\"><a href=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2009\/05\/maria_33s.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignleft wp-image-343 size-medium\" src=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2009\/05\/maria_33s-300x225.jpg\" alt=\"\" width=\"300\" height=\"225\" srcset=\"https:\/\/mpateraki.org\/wp-content\/uploads\/2009\/05\/maria_33s-300x225.jpg 300w, https:\/\/mpateraki.org\/wp-content\/uploads\/2009\/05\/maria_33s.jpg 320w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><\/td>\n<td align=\"center\" width=\"33%\"><a href=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2009\/05\/maria_155s.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-344 size-medium\" src=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2009\/05\/maria_155s-300x225.jpg\" alt=\"\" width=\"300\" height=\"225\" srcset=\"https:\/\/mpateraki.org\/wp-content\/uploads\/2009\/05\/maria_155s-300x225.jpg 300w, https:\/\/mpateraki.org\/wp-content\/uploads\/2009\/05\/maria_155s.jpg 320w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><\/td>\n<td align=\"center\" width=\"33%\"><a href=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2009\/05\/maria_297s.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-345 size-medium\" src=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2009\/05\/maria_297s-300x225.jpg\" alt=\"\" width=\"300\" height=\"225\" srcset=\"https:\/\/mpateraki.org\/wp-content\/uploads\/2009\/05\/maria_297s-300x225.jpg 300w, https:\/\/mpateraki.org\/wp-content\/uploads\/2009\/05\/maria_297s.jpg 320w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><\/td>\n<\/tr>\n<tr align=\"center\">\n<td align=\"center\" width=\"33%\"><a href=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2009\/05\/image_282s.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignleft wp-image-342 size-medium\" src=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2009\/05\/image_282s-300x225.jpg\" alt=\"\" width=\"300\" height=\"225\" srcset=\"https:\/\/mpateraki.org\/wp-content\/uploads\/2009\/05\/image_282s-300x225.jpg 300w, https:\/\/mpateraki.org\/wp-content\/uploads\/2009\/05\/image_282s.jpg 320w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><\/td>\n<td align=\"center\" width=\"33%\"><a href=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2009\/05\/image_249s.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignleft wp-image-341 size-medium\" src=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2009\/05\/image_249s-300x225.jpg\" alt=\"\" width=\"300\" height=\"225\" srcset=\"https:\/\/mpateraki.org\/wp-content\/uploads\/2009\/05\/image_249s-300x225.jpg 300w, https:\/\/mpateraki.org\/wp-content\/uploads\/2009\/05\/image_249s.jpg 320w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><\/td>\n<td align=\"center\" width=\"33%\"><a href=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2009\/05\/image_106s.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-340 size-medium\" src=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2009\/05\/image_106s-300x225.jpg\" alt=\"\" width=\"300\" height=\"225\" srcset=\"https:\/\/mpateraki.org\/wp-content\/uploads\/2009\/05\/image_106s-300x225.jpg 300w, https:\/\/mpateraki.org\/wp-content\/uploads\/2009\/05\/image_106s.jpg 320w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n","protected":false},"excerpt":{"rendered":"<p>Pateraki M., Baltzakis H., Kondaxakis P., Thahanias P., 2009. Tracking of facial features to support human-robot interaction. In: Proc. IEEE International Conference on Robotics and Automation (ICRA), 12-17 May, Koebe, Japan. [doi] [pdf] [bib] Abstract: In this paper we present a novel methodology\u00a0for detection and tracking of facial features like eyes, nose\u00a0and mouth in image [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":343,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3],"tags":[],"class_list":["post-337","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-publications"],"_links":{"self":[{"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/posts\/337","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/mpateraki.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=337"}],"version-history":[{"count":4,"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/posts\/337\/revisions"}],"predecessor-version":[{"id":347,"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/posts\/337\/revisions\/347"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/media\/343"}],"wp:attachment":[{"href":"https:\/\/mpateraki.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=337"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mpateraki.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=337"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mpateraki.org\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=337"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}