Automatic human face detection in color images

Automatic human face detection in digital image has been an active area of research over the past decade. Among its numerous applications, face detection plays a key role in face recognition system for biometric personal identification, face tracking for intelligent human computer interface (HCI), and face segmentation for object-based video coding. Despite significant progress in the field in recent years, detecting human faces in unconstrained and complex images remains a challenging problem in computer vision. An automatic system that possesses a similar capability as the human vision system in detecting faces is still a far-reaching goal. This thesis focuses on the problem of detecting human laces in color images. Although many early face detection algorithms were designed to work on gray-scale Images, strong evidence exists to suggest face detection can be done more efficiently by taking into account color characteristics of the human face. In this thesis, we present a complete and systematic face detection algorithm that combines the strengths of both analytic and holistic approaches to face detection. The algorithm is developed to detect quasi-frontal faces in complex color Images. This face class, which represents typical detection scenarios in most practical applications of face detection, covers a wide range of face poses Including all in-plane rotations and some out-of-plane rotations. The algorithm is organized into a number of cascading stages including skin region segmentation, face candidate selection, and face verification. In each of these stages, various visual cues are utilized to narrow the search space for faces. In this thesis, we present a comprehensive analysis of skin detection using color pixel classification, and the effects of factors such as the color space, color classification algorithm on segmentation performance. We also propose a novel and efficient face candidate selection technique that is based on color-based eye region detection and a geometric face model. This candidate selection technique eliminates the computation-intensive step of window scanning often employed In holistic face detection, and simplifies the task of detecting rotated faces. Besides various heuristic techniques for face candidate verification, we developface/nonface classifiers based on the naive Bayesian model, and investigate three feature extraction schemes, namely intensity, projection on face subspace and edge-based. Techniques for improving face/nonface classification are also proposed, including bootstrapping, classifier combination and using contextual information. On a test set of face and nonface patterns, the combination of three Bayesian classifiers has a correct detection rate of 98.6% at a false positive rate of 10%. Extensive testing results have shown that the proposed face detector achieves good performance in terms of both detection rate and alignment between the detected faces and the true faces. On a test set of 200 images containing 231 faces taken from the ECU face detection database, the proposed face detector has a correct detection rate of 90.04% and makes 10 false detections. We have found that the proposed face detector is more robust In detecting in-plane rotated laces, compared to existing face detectors. +D2

Explainable shared control in assistive robotics

Shared control plays a pivotal role in designing assistive robots to complement human capabilities during everyday tasks. However, traditional shared control relies on users forming an accurate mental model of expected robot behaviour. Without this accurate mental image, users may encounter confusion or frustration whenever their actions do not elicit the intended system response, forming a misalignment between the respective internal models of the robot and human. The Explainable Shared Control paradigm introduced in this thesis attempts to resolve such model misalignment by jointly considering assistance and transparency. There are two perspectives of transparency to Explainable Shared Control: the human's and the robot's. Augmented reality is presented as an integral component that addresses the human viewpoint by visually unveiling the robot's internal mechanisms. Whilst the robot perspective requires an awareness of human "intent", and so a clustering framework composed of a deep generative model is developed for human intention inference. Both transparency constructs are implemented atop a real assistive robotic wheelchair and tested with human users. An augmented reality headset is incorporated into the robotic wheelchair and different interface options are evaluated across two user studies to explore their influence on mental model accuracy. Experimental results indicate that this setup facilitates transparent assistance by improving recovery times from adverse events associated with model misalignment. As for human intention inference, the clustering framework is applied to a dataset collected from users operating the robotic wheelchair. Findings from this experiment demonstrate that the learnt clusters are interpretable and meaningful representations of human intent. This thesis serves as a first step in the interdisciplinary area of Explainable Shared Control. The contributions to shared control, augmented reality and representation learning contained within this thesis are likely to help future research advance the proposed paradigm, and thus bolster the prevalence of assistive robots.Open Acces

Visual Speech Recognition

Lip reading is used to understand or interpret speech without hearing it, a technique especially mastered by people with hearing difficulties. The ability to lip read enables a person with a hearing impairment to communicate with others and to engage in social activities, which otherwise would be difficult. Recent advances in the fields of computer vision, pattern recognition, and signal processing has led to a growing interest in automating this challenging task of lip reading. Indeed, automating the human ability to lip read, a process referred to as visual speech recognition (VSR) (or sometimes speech reading), could open the door for other novel related applications. VSR has received a great deal of attention in the last decade for its potential use in applications such as human-computer interaction (HCI), audio-visual speech recognition (AVSR), speaker recognition, talking heads, sign language recognition and video surveillance. Its main aim is to recognise spoken word(s) by using only the visual signal that is produced during speech. Hence, VSR deals with the visual domain of speech and involves image processing, artificial intelligence, object detection, pattern recognition, statistical modelling, etc.Comment: Speech and Language Technologies (Book), Prof. Ivo Ipsic (Ed.), ISBN: 978-953-307-322-4, InTech (2011

Energy efficient enabling technologies for semantic video processing on mobile devices

Semantic object-based processing will play an increasingly important role in future multimedia systems due to the ubiquity of digital multimedia capture/playback technologies and increasing storage capacity. Although the object based paradigm has many undeniable benefits, numerous technical challenges remain before the applications becomes pervasive, particularly on computational constrained mobile devices. A fundamental issue is the ill-posed problem of semantic object segmentation. Furthermore, on battery powered mobile computing devices, the additional algorithmic complexity of semantic object based processing compared to conventional video processing is highly undesirable both from a real-time operation and battery life perspective. This thesis attempts to tackle these issues by firstly constraining the solution space and focusing on the human face as a primary semantic concept of use to users of mobile devices. A novel face detection algorithm is proposed, which from the outset was designed to be amenable to be offloaded from the host microprocessor to dedicated hardware, thereby providing real-time performance and reducing power consumption. The algorithm uses an Artificial Neural Network (ANN), whose topology and weights are evolved via a genetic algorithm (GA). The computational burden of the ANN evaluation is offloaded to a dedicated hardware accelerator, which is capable of processing any evolved network topology. Efficient arithmetic circuitry, which leverages modified Booth recoding, column compressors and carry save adders, is adopted throughout the design. To tackle the increased computational costs associated with object tracking or object based shape encoding, a novel energy efficient binary motion estimation architecture is proposed. Energy is reduced in the proposed motion estimation architecture by minimising the redundant operations inherent in the binary data. Both architectures are shown to compare favourable with the relevant prior art

Vision-based techniques for automatic marine plankton classification

Plankton are an important component of life on Earth. Since the 19th century, scientists have attempted to quantify species distributions using many techniques, such as direct counting, sizing, and classification with microscopes. Since then, extraordinary work has been performed regarding the development of plankton imaging systems, producing a massive backlog of images that await classification. Automatic image processing and classification approaches are opening new avenues for avoiding time-consuming manual procedures. While some algorithms have been adapted from many other applications for use with plankton, other exciting techniques have been developed exclusively for this issue. Achieving higher accuracy than that of human taxonomists is not yet possible, but an expeditious analysis is essential for discovering the world beyond plankton. Recent studies have shown the imminent development of real-time, in situ plankton image classification systems, which have only been slowed down by the complex implementations of algorithms on low-power processing hardware. This article compiles the techniques that have been proposed for classifying marine plankton, focusing on automatic methods that utilize image processing, from the beginnings of this field to the present day.Funding for open access charge: Universidad de Málaga / CBUA. Open Access funding provided thanks to the CRUE-CSIC agreement with Springer Nature. The authors wish to thank Alonso Hernández-Guerra for his frm support in the development of oceanographic technology. Special thanks to Laia Armengol for her help in the domain of plankton. This study has been funded by Feder of the UE through the RES-COAST Mac-Interreg pro ject (MAC2/3.5b/314). We also acknowledge the European Union projects SUMMER (Grant Agreement 817806) and TRIATLAS (Grant Agreement 817578) from the Horizon 2020 Research and Innovation Programme and the Ministry of Science from the Spanish Government through the Project DESAFÍO (PID2020-118118RB-I00)

A centralized and dynamic network congestion classification approach for heterogeneous vehicular networks

ABSTRACT: Network congestion-related studies consist mainly of two parts: congestion detection and congestion control. Several researchers have proposed different mechanisms to control congestion and used channel loads or other factors to detect congestion. However, the number of studies concerning congestion detection and going beyond into congestion prediction is low. On this basis, we decide to propose a method for congestion prediction using supervised machine learning. In this paper, we propose a Naive Bayesian network congestion warning classification method for Heterogeneous Vehicular Networks (HetVNETs) using simulated data that can be locally applied in a fog device in a HetVNET. In addition, we propose a centralized and dynamic cloud-fog-based architecture for HetVNET. The Naive Bayesian network congestion warning classification method can be applied in this architecture. Support Vector Machine (SVM), K Nearest Neighbor (KNN) and Random Forest classifiers, which are popular methods in classification problems, are considered to generate congestion warning prediction models. Numerical results show that the proposed Naive Bayesian classifier is more reliable and stable and can accurately predict the data flow warning state in HetVNET. Moreover, based on the obtained simulation results, applying the proposed congestion classification approach can improve the network’s performance in terms of the packet loss ratio, average delay and average throughput, especially in the dense vehicular environments of HetVNET

The neural basis of audio-visual integration and adaptation

The brain integrates or segregates audio-visual signals effortlessly in everyday life. In order to do so, it needs to infer the causal structure by which the signals were generated. Although behavioural studies extensively characterized causal inference in audio-visual perception, the neural mechanisms are barely explored. The current thesis sheds light on these neural processes and demonstrates how the brain adapts to dynamic as well as long-term changes in the environmental statistics of audio-visual signals. In Chapter 1, I introduce the causal inference problem and demonstrate how spatial audiovisual signals are integrated at the behavioural as well as neural level. In Chapter 2, I describe methodological foundations for the following empirical chapters. In Chapter 3, I present the neural mechanisms of explicit causal inference and the representations of audio-visual space along the human cortical hierarchy. Chapter 4 reveals that the brain is able to use recent past to adapt to the dynamically changing environment. In Chapter 5, I discuss the neural substrates of encoding auditory space and its adaptive changes in response to spatially conflicting visual signals. Finally, in Chapter 6, I summarize the findings of the thesis, its contributions to the literature, and I outline directions for future research

Intelligent Sensor Networks

In the last decade, wireless or wired sensor networks have attracted much attention. However, most designs target general sensor network issues including protocol stack (routing, MAC, etc.) and security issues. This book focuses on the close integration of sensing, networking, and smart signal processing via machine learning. Based on their world-class research, the authors present the fundamentals of intelligent sensor networks. They cover sensing and sampling, distributed signal processing, and intelligent signal learning. In addition, they present cutting-edge research results from leading experts

Situated face detection

scholarship 71357In the last twenty years, important advances have been made in the field of automatic face processing, given the importance of human faces for personal identification, emotional expression and verbal and non verbal communication. The very first step in a face processing algorithm is the detection of faces; while this is a trivial problem in controlled environments, the detection of faces in real environments is still a challenging task. Until now, the most successful approaches for face detection represent the face as a grey-level pattern, and the problem itself is considered as the classification between "face" and "non-face" patterns. Satisfactory results have been achieved in this area. The main disadvantage is that an exhaustive search has to be done on each image in order to locate the faces. This search normally involves testing every single position on the image at different scales, and although this does not represent an important drawback in off-line face processing systems, in those cases where a real-time response is needed it is still a problem. In the different proposed methods for face detection, the "observer" is a disembodied entity, which holds no relationship with the observed scene. This thesis presents a framework for an efficient location of faces in real scenes, in which, by considering both the observer to be situated in the world, and the relationships that hold between the two, a set of constraints in the search space can be defined. The constraints rely on two main assumptions; first, the observer can purposively interact with the world (i.e. change its position relative to the observed scene) and second, the camera is fully calibrated. The first source constraint is the structural information about the observer environment, represented as a depth map of the scene in front of the camera. From this representation the search space can be constrained in terms of the range of scales where a face might be found as different positions in the image. The second source of constraint is the geometrical relationship between the camera and the scene, which allows us to project a model of the subject into the scene in order to eliminate those areas where faces are unlikely to be found. In order to test the proposed framework, a system based on the premises stated above was constructed. It is based on three different modules: a face/non-face classifier, a depth estimation module and a search module. The classifier is composed of a set of convolutional neural networks (CNN) that were trained to differentiate between face and non-face patterns, the depth estimation modules uses a multilevel algorithm to compute the scene depth map from a sequence of images captured the depth information and the subject model into the image where the search will be performed in order to constrain the search space. Finally, the proposed system was validated by running a set of experiments on the individual modules and then on the whole system