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모바일 로봇을 위한 저해상도 영상에서의 원거리 얼굴 검출
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- Issue Date
- 2009-12
- Citation
- 로봇학회논문지, v.4, no.4, pp.257-264
- ISSN
- 1975-6291
- Publisher
- 한국로봇학회(KROS)
- Language
- Korean
- Type
- Journal Article
- Abstract
- This paper proposes a novel face detection method that finds tiny faces located at a long range even with low-resolution input images captured by a mobile robot. The proposed approach can locate extremely small-sized face regions of 12x12 pixels. We solve a tiny face detection problem by organizing a system that consists of multiple detectors including a mean-shift color tracker, short- and long-rage face detectors, and an omega shape detector. The proposed method adopts the long-range face detector that is well trained enough to detect tiny faces at a long range, and limiting its operation to only within a search region that is automatically determined by the mean-shift color tracker and the omega shape detector. By focusing on limiting the face search region as much as possible, the proposed method can accurately detect tiny faces at a long distance even with a low-resolution image, and decrease false positives sharply. According to the experimental results on realistic databases, the performance of the proposed approach is at a sufficiently practical level for various robot applications such as face recognition of non-cooperative users, human-following, and gesture recognition for long-range interaction.
- KSP Keywords
- Detection Method, False Positive(FP), Human following, Long distance, Long-range interaction, Low-resolution images, Mean-shift(MS), Mobile robots, Omega shape, Robot applications, Short-