Abstract
This article presents a real-time face detection and recognition system for mobile robots based on videos with a complex background. In the visual system, we propose a multi-information method consisting of an Adaboost algorithm, and color information for the face detection part. The interesting targets in the video will first be detected by the Adaboost algorithm, which is robust to illumination. Then the skin color model in YCbCr space will be employed to select the parts that may not be skin areas from the information detected by the Adaboost algorithm. An embedded hidden Markov model (EHMM) is presented, using a 2-DCT feature vector as the observation vector, to recognize the faces detected. The whole process of detecting and recognizing a frame, which is 320 × 240, will take 1.4 s with the rapid recognition parameters and 4.2 s with the slow recognition parameters.
Similar content being viewed by others
References
Garcia E, Jimenez MA, Gonzalez De Santos P (2007) The evolution of robotics research. IEEE Robotics Autom Mag 3:2–15
Freund Y, Schapire RE (1996) Experiments with a new boosting algorithm. Proceedings of the 13th International Conference on Machine Learning, pp 148–156
Viola P, Jones M (2001) Rapid object detection using a boosted cascade of simple features. Proceedings of IEEE conference on computer vision and pattern recognition, pp 511–518
Viola P, Jones M (2001) Robust real-time face detection. Proceedings of IEEE international conference on computer vision, p 747
Lienhart R, Maydt J (2002) An extended set of Haar-like features for rapid object detection. ICIP, pp 900–903
Lienhart R, Kuranov A, Pisarevsky V (2003) Empirical analysis of detection cascades of boosted classifiers for rapid object. Proceedings of the 25th Pattern Recognition Symposium, pp 297–304
Yang M-H, Kriegman DJ, Ahuja N (2002) Detecting faces in images: a survey. IEEE Trans Pattern Anal Mach Intel 24(1):34–58
Terrillon J-C, Shirazi MN, Fukamachi H, et al (2000) Comparative performance of different skin chrominance models and chrominance spaces for the automatic detection of human faces in color images. Autom Face Gesture Recognition
Nefian A, Hayes III MH (1998) Hidden Markov models for face recognition. ICASSP 5:2721–2724
Othman H, Aboulnasr T (2000) Low complexity 2-D hidden Markov model for face recognition. IEEE International Symposium on Circuits and Systems, vol 5, pp 33–36
Author information
Authors and Affiliations
Corresponding author
Additional information
This work was presented in part and was awarded the Best Paper Award at the 15th International Symposium on Artificial Life and Robotics, Oita, Japan, February 4–6, 2010
About this article
Cite this article
Chen, S., Zhang, T., Zhang, C. et al. A real-time face detection and recognition system for a mobile robot in a complex background. Artif Life Robotics 15, 439–443 (2010). https://doi.org/10.1007/s10015-010-0838-z
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10015-010-0838-z