Automated recognition of facial expression is an important addition to computer vision research because of its relevance to the study of psychological phenomena and the development of human-computer interaction (HCI). We developed a computer vision system that automatically recognizes individual action units or action unit combinations in the upper face using Hidden Markov Models (HMMs). Our ap...

This paper proposes an integrated approach to realtime detection, tracking and direction recognition of human faces, which is intended to be used as an human-robot interaction interface for the intelligent wheelchair. Adaboost face detection is applied inside the comparatively small window which is slightly bigger than the Camshift tracking window, so that the face precise position, size and fr...

We have developed a fast robust 3D head tracking system based on rendering a texture-mapped cylinder. In order to handle the variable frame-to-frame motion changes, the system uses motion templates, which adapt to the current size of the motion increment. The relationship between measurable pixel energy and tracking error is used to design the parameters of the adaptive algorithm. To speedup pr...

This paper describes a fast and completely automatic algorithm for human face tracking. The tracked face is represented by a weighted histogram. The current histogram is compared to histograms at the particles’ positions. The weight of each particle is determined on the basis of Bhattacharyya distance and intensity gradient along the ellipse’s boundary. The incorporation of information about th...

The visual tracking of human faces is a basic functionality needed for human-machine interfaces. This paper describes an approach that explores the combined use of adaptive skin color segmentation and face detection for improved face tracking on a mobile robot. To cope with inhomogeneous lighting within a single image the color of each tracked image region is modeled with an individual, unimoda...

The role of gaze in interaction has been an area of increasing interest to the field of human-robot interaction. Mutual gaze, the pattern of behavior that arises when humans look directly at each other’s faces, sends important social cues and is a developmental precursor in humans to joint attention and language learning. In preparation for learning a computational model of mutual gaze, data fr...