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Instituto Universitario de Sistemas Inteligentes y Aplicaciones Numericas en Ingenieria, Universidad de Las Palmas de Gran Canaria
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2 Papers

USEFUL COMPUTER VISION TECHNIQUES FOR A ROBOTIC HEAD

Topics: Vision, Recognition and Reconstruction; Human-Robots Interfaces

Authors: O. Deniz , M. Castrillon , J. Lorenzo and L. A. Canalis

Affiliation: Instituto Universitario de Sistemas Inteligentes y Aplicaciones Numericas en Ingenieria, Universidad de Las Palmas de Gran Canaria, Spain

Digital Object Identifier: 10.5220/0001644503840389

Proceedings of ICINCO 2007, ISBN: 978-972-8865-83-2

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This paper describes some simple but useful computer vision techniques for human-robot interaction. First, an omnidirectional camera setting is described that can detect people in the surroundings of the robot, giving their angular positions and a rough estimate of the distance. The device can be easily built with inexpensive components. Second, we comment on a color-based face detection technique that can alleviate skin-color false positives. Third, a person tracking and recognition system is described. Finally, a simple head nod and shake detector is described, suitable for detecting affirmative/negative, approval/disapproval, understanding/disbelief head gestures.
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Human-Robots Interfaces

Robotics and Automation

Vision, Recognition and Reconstruction
Informatics in Control, Automation and Robotics

Introduction of Homeostatic Regulation in Face Detection

Authors: J. Lorenzo , M. Castrillon , M. Hernandez and O. Déniz

Affiliation: Institute of Intelligent Systems and Numerical Applications in Engineering, Univ. of Las Palmas de G.C., Spain

Digital Object Identifier: 10.5220/0002683900050014

Proceedings of PRIS 2004/ICEIS, ISBN: 972-8865-01-5

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In this paper the introduction of a homeostatic mechanism in a vision system is proposed. This homeostatic mechanism is based on artificial hormones for which five different states have been defined. The goal is to keep the system into a regime where the performance were acceptable for the task and to recover it when the environmental conditions change. For a face detection task we have propose the control of the luminance, white balance, contrast and size of the face. The introduction of the artificial hormones will allow to implement simple control strategies and with the definition of different states for each hormone we will be able to introduce adaptation depending on the deviation from the optimal regime. Finally we realize a set of experiments to test the proposed mechanism on a face detection system and using as performance measure the rate of detected faces.

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