A bank of unscented Kalman filters for multimodal human perception with mobile service robots

A new generation of mobile service robots could be ready soon to operate in human environments if they can robustly estimate position and identity of surrounding people. Researchers in this field face a number of challenging problems, among which sensor uncertainties and real-time constraints. In this paper, we propose a novel and efficient solution for simultaneous tracking and recognition of people within the observation range of a mobile robot. Multisensor techniques for legs and face detection are fused in a robust probabilistic framework to height, clothes and face recognition algorithms. The system is based on an efficient bank of Unscented Kalman Filters that keeps a multi-hypothesis estimate of the person being tracked, including the case where the latter is unknown to the robot. Several experiments with real mobile robots are presented to validate the proposed approach. They show that our solutions can improve the robot's perception and recognition of humans, providing a useful contribution for the future application of service robotics

Efficient and Robust Driver Fatigue Detection Framework Based on the Visual Analysis of Eye States

Fatigue detection based on vision is widely employed in vehicles due to its real-time and reliable detection results. With the coronavirus disease (COVID-19) outbreak, many proposed detection systems based on facial characteristics would be unreliable due to the face covering with the mask. In this paper, we propose a robust visual-based fatigue detection system for monitoring drivers, which is robust regarding the coverings of masks, changing illumination and head movement of drivers. Our system has three main modules: face key point alignment, fatigue feature extraction and fatigue measurement based on fused features. The innovative core techniques are described as follows: (1) a robust key point alignment algorithm by fusing global face information and regional eye information, (2) dynamic threshold methods to extract fatigue characteristics and (3) a stable fatigue measurement based on fusing percentage of eyelid closure (PERCLOS) and proportion of long closure duration blink (PLCDB). The excellent performance of our proposed algorithm and methods are verified in experiments. The experimental results show that our key point alignment algorithm is robust to different scenes, and the performance of our proposed fatigue measurement is more reliable due to the fusion of PERCLOS and PLCDB

Real-Time Face Detection and Recognition

The face has become a popular biometric for identification due to the wide range of features and difficulty in manipulation of the metric. In order to work towards a robust facial recognition system, this work contains a foundation for using the face as a recognition metric. First, faces are detected from still images using a Viola-Jones object detection algorithm. Then, Eigenfaces is applied to the detected faces. The system was tested on face databases as well as real-time feed from a web camera

Motion Detection and Face Recognition for CCTV Surveillance System

Closed Circuit Television (CCTV) is currently used in daily life for a variety purpose. Development of the use of CCTV has transformed from a simple passive surveillance into an integrated intelligent control system. In this research, motion detection and facial recognation in CCTV video is done to be a base for decision making to produce automated, effective and efficient integrated system. This CCTV video processing provides three outputs, a motion detection information, a face detection information and a face identification information. Accumulative Differences Images (ADI) used  for motion detection, and Haar Classifiers Cascade used  for facial segmentation. Feature extraction is done with Speeded-Up Robust Features (SURF) and Principal Component Analysis (PCA). The features was trained by Counter-Propagation Network (CPN). Offline tests performed on 45 CCTV video. The test results obtained a motion detection success rate of 92,655%, a face detection success rate of 76%, and a face detection success rate of 60%. The results concluded that the process of faces identification through CCTV video with natural background have not been able to obtain optimal results. The motion detection process is ideal to be applied to real-time conditions. But in combination with face recognition process, there is a significant delay time

An Accurate Real-Time Method for Face Mask Detection using CNN and SVM

Infectious respiratory diseases, including COVID-19, pose a significant challenge to humanity and a potential threat to life due to their severity and rapid spread. Using a surgical mask is among the most significant safety precautions that can help keep this sort of pandemic from spreading, and manual monitoring of large crowds in public places for face masks is problematic. In this research, we suggest a real-time approach for face mask detection. First, we use a multi-scale deep neural network to extract features. As a result, the attributes are better suited for training the detection system. We employ SVM post-processing in the classification stage to make the face mask detection method more robust. According to the experimental findings, our strategy considerably decreased the percentage of false positives and undetected cases

Human Face Detection By YCbCrHs Technique

Abstract: Human face detection plays important roles in many applications such as video surveillance and face image database management. In our Paper, we have studied worked on face detection By YCbCrHs Techniques and developed algorithms for them. In face detection, we have developed an algorithm that can detect human faces from an image. We have taken skin color as a tool for detection. This technique works well for Indian faces which have a specific complexion varying under certain range. We have taken real life examples and simulated the algorithms in MATLAB successfully. Our aim, which we believe we have reached, was to develop a method of face recognition that is fast, robust, reasonably simple and accurate with a relatively simple and easy to understand algorithms and. techniques. The examples provided in this Paper are real-time and taken from our own surroundings. While the RGB, HSV and YUV (YCbCr) are standard models used in various colour imaging applications, not all of their information are necessary to classify skin colour. In This Paper presents a novel skin colour model, RGB-YCbCrHs for the detection of human faces

Robust Facial Alignment for Face Recognition

© 2017, Springer International Publishing AG. This paper proposes a robust real-time face recognition system that utilizes regression tree based method to locate the facial feature points. The proposed system finds the face region which is suitable to perform the recognition task by geometrically analyses of the facial expression of the target face image. In real-world facial recognition systems, the face is often cropped based on the face detection techniques. The misalignment is inevitably occurred due to facial pose, noise, occlusion, and so on. However misalignment affects the recognition rate due to sensitive nature of the face classifier. The performance of the proposed approach is evaluated with four benchmark databases. The experiment results show the robustness of the proposed approach with significant improvement in the facial recognition system on the various size and resolution of given face images