Side-View Face Recognition

Side-view face recognition is a challenging problem with many applications. Especially in real-life scenarios where the environment is uncontrolled, coping with pose variations up to side-view positions is an important task for face recognition. In this paper we discuss the use of side view face recognition techniques to be used in house safety applications. Our aim is to recognize people as they pass through a door, and estimate their location in the house. Here, we compare available databases appropriate for this task, and review current methods for profile face recognition

Tied factor analysis for face recognition across large pose differences

Face recognition algorithms perform very unreliably when the pose of the probe face is different from the gallery face: typical feature vectors vary more with pose than with identity. We propose a generative model that creates a one-to-many mapping from an idealized “identity” space to the observed data space. In identity space, the representation for each individual does not vary with pose. We model the measured feature vector as being generated by a pose-contingent linear transformation of the identity variable in the presence of Gaussian noise. We term this model “tied” factor analysis. The choice of linear transformation (factors) depends on the pose, but the loadings are constant (tied) for a given individual. We use the EM algorithm to estimate the linear transformations and the noise parameters from training data. We propose a probabilistic distance metric that allows a full posterior over possible matches to be established. We introduce a novel feature extraction process and investigate recognition performance by using the FERET, XM2VTS, and PIE databases. Recognition performance compares favorably with contemporary approaches

A Survey on Global LiDAR Localization

Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. In the last two decades, LiDAR scanners have become a standard sensor for robot localization and mapping. This article surveys recent progress and advances in LiDAR-based global localization. We start with the problem formulation and explore the application scope. We then present the methodology review covering various global localization topics, such as maps, descriptor extraction, and consistency checks. The contents are organized under three themes. The first is the combination of global place retrieval and local pose estimation. Then the second theme is upgrading single-shot measurement to sequential ones for sequential global localization. The third theme is extending single-robot global localization to cross-robot localization on multi-robot systems. We end this survey with a discussion of open challenges and promising directions on global lidar localization