Real-time face tracking and recognition using the mobile robots

被引:4
|
作者
Lee, Min-Fan Ricky [1 ]
Li, Ying-Chi [1 ]
Chien, Ming-Yen [1 ]
机构
[1] Natl Taiwan Univ Sci & Technol, Grad Inst Automat & Control, Taipei, Taiwan
关键词
face tracking; disaster response robotic; face recognition; face model; unmanned aerial vehicle; SYSTEM;
D O I
10.1080/01691864.2014.1002528
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
The terrain is complex and dynamic in a disaster. This paper aimed at constructing a multipose-specific feature model for online face recognition and tracking in a search and rescue operation. This paper proposes an integrated multipose face tracking and recognition system mounted on an unmanned aerial vehicle (UAV). The face model is constructed online by multi-scale block local binary pattern (MB-LBP) for face recognition. The generic and specific face models are further integrated for face tracking. Mechanisms for the online update of face models to retrieve loss of face tracking are also implemented. The results show that the proposed system achieves stable and robust tracking despite uncertainties (e.g. non-rigid human face, face expression changes, different face poses, complex background, varying illumination, partial visual occlusion, and pose changes). The target loss during tracking can be retrieved correctly. In face recognition, the multipose-specific face model can achieve an accuracy (above 70%). The results demonstrate the feasibility of the proof-of-concept using UAV or ground mobile robot (GMR) for real-time face recognition and tracking.
引用
收藏
页码:187 / 208
页数:22
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