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Conference Paper
Depth Calculation by using Face Detection ASIC
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- Authors
- Seung Min Choi, Jae-Chan Jeong, Jae Il Cho
- Issue Date
- 2011-01
- Citation
- International Symposium on Artificial Life and Robotics (ISAROB) 2011, pp.418-421
- Language
- English
- Type
- Conference Paper
- Abstract
- Real-time processing in mobile devices is always a hot issue. Although face detection and stereo matching, in particular, are core elements for HRI applications, they are processes that impose the heaviest loads in real-time processing. In this article, we present novel methods of calculating disparities and face detection by using an Altair chip which can detect 32 frontal faces per frame at speed of 30 frames per second (f. p. s.). Altair can take two stereo images and process them in a frame-by-frame manner. If the left-hand image is input in the N-th time frame and then the right-hand image is input in the (N + 1)-th time frame, we can get information about left and right facial images with a one-frame delay. Then we can calculate the disparities between the faces, and can easily estimate the distance from a robot to a human with this information. In cases where several faces are detected, we classified various cases in order to identify corresponding faces. The experimental results show that we can detect faces and calculate distances in the range 0.5 m-3.5 m, with a 0.5%-8.9% error, at a processing speed of 15 f. p. s. © 2011 International Symposium on Artificial Life and Robotics (ISAROB).
- KSP Keywords
- Depth Calculation, Facial image, Frame delay, Frames per second(FPS), Mobile devices, Processing speed, Real-Time processing, Time frame, artificial life, face detection, stereo images