Face detection in active robot vision

Download

index.pdf

Date

2004

Author

Önder, Murat

Metadata

Show full item record

Item Usage Stats

207
views

139
downloads

The main task in this thesis is to design a robot vision system with face detection and tracking capability. Hence there are two main works in the thesis: Firstly, the detection of the face on an image that is taken from the camera on the robot must be achieved. Hence this is a serious real time image processing task and time constraints are very important because of this reason. A processing rate of 1 frame/second is tried to be achieved and hence a fast face detection algorithm had to be used. The Eigenface method and the Subspace LDA (Linear Discriminant Analysis) method are implemented, tested and compared for face detection and Eigenface method proposed by Turk and Pentland is decided to be used. The images are first passed through a number of preprocessing algorithms to obtain better performance, like skin detection, histogram equalization etc. After this filtering process the face candidate regions are put through the face detection algorithm to understand whether there is a face or not in the image. Some modifications are applied to the eigenface algorithm to detect the faces better and faster. Secondly, the robot must move towards the face in the image. This task includes robot motion. The robot to be used for this purpose is a Pioneer 2-DX8 Plus, which is a product of ActivMedia Robotics Inc. and only the interfaces to move the robot have been implemented in the thesis software. The robot is to detect the faces at different distances and arrange its position according to the distance of the human to the robot. Hence a scaling mechanism must be used either in the training images, or in the input image taken from the camera. Because of timing constraint and low camera resolution, a limited number of scaling is applied in the face detection process. With this reason faces of people who are very far or very close to the robot will not be detected. A background

Subject Keywords

Electronic computers., Computer science.

URI

http://etd.lib.metu.edu.tr/upload/2/12605290/index.pdf
https://hdl.handle.net/11511/14435

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Human motion analysis via axis based representations Erdem, Sezen; Tarı, Zehra Sibel; Department of Computer Engineering (2007) Visual analysis of human motion is one of the active research areas in computer vision. The trend shifts from computing motion fields to understanding actions. In this thesis, an action coding scheme based on trajectories of the features calculated with respect to a part based coordinate system is presented. The part based coordinate system is formed using an axis based representation. The features are extracted from images segmented in the form of silhouettes. We present some preliminary experiments that d...
Robot planing based on learned affordances Çakmak, Maya; Şahin, Erol; Department of Computer Engineering (2007) This thesis studies how an autonomous robot can learn affordances from its interactions with the environment and use these affordances in planning. It is based on a new formalization of the concept which proposes that affordances are relations that pertain to the interactions of an agent with its environment. The robot interacts with environments containing different objects by executing its atomic actions and learns the different effects it can create, as well as the invariants of the environments that aff...
An automated tool for information security management system Erkan, Ahmet; Arifoğlu, Ali; Department of Information Systems (2006) This thesis focuses on automation of processes of Information Security Management System. In accordance with two International Standards, ISO/IEC 27001:2005 and ISO/IEC 17799:2005, to automate the activities required for a documented ISMS as much as possible helps organizations. Some of the well known tools in this scope are analyzed and a comparative study on them including “InfoSec Toolkit”, which is developed for this purpose in the thesis scope, is given. “InfoSec Toolkit” is based on ISO/IEC 27001:2005...
A new approach for better load balancing of visibility detection and target acquisition calculations Filiz, Anıl Yiğit; Can, Tolga; Department of Computer Engineering (2010) Calculating visual perception of entities in simulations requires complex intersection tests between the line of sight and the virtual world. In this study, we focus on outdoor environments which consist of a terrain and various objects located on terrain. Using hardware capabilities of graphics cards, such as occlusion queries, provides a fast method for implementing these tests. In this thesis, we introduce an approach for better load balancing of visibility detection and target acquisition calculations b...
An analysis of the maincritical factors that affect the acceptance of technology in hospital management systems Peker, Can; Özkan Yıldırım, Sevgi; Department of Information Systems (2010) The purpose of this study is to develop a methodology by extending the Technology Acceptance Model (Davis, 1989) in order to contribute the acceptance of Hospital Management Systems in hospitals. The study also aims to extend the TAM by adding external variables. Thereby the relationships between perceived usefulness, perceived ease of use and external TAM factors and how these relationships will affect the behavioral intention to use the technology will be determined. In this study quantitative research me...

Citation Formats

M. Önder, “Face detection in active robot vision,” M.S. - Master of Science, Middle East Technical University, 2004.