Particle Filters for Colour-Based Face Tracking Under Varying Illumination

Automatic human face tracking is the basis of robotic and active vision systems used for facial feature analysis, automatic surveillance, video conferencing, intelligent transportation, human-computer interaction and many other applications. Superior human face tracking will allow future safety surveillance systems which monitor drowsy drivers, or patients and elderly people at the risk of seizure or sudden falls and will perform with lower risk of failure in unexpected situations. This area has actively been researched in the current literature in an attempt to make automatic face trackers more stable in challenging real-world environments. To detect faces in video sequences, features like colour, texture, intensity, shape or motion is used. Among these feature colour has been the most popular, because of its insensitivity to orientation and size changes and fast process-ability. The challenge of colour-based face trackers, however, has been dealing with the instability of trackers in case of colour changes due to the drastic variation in environmental illumination. Probabilistic tracking and the employment of particle filters as powerful Bayesian stochastic estimators, on the other hand, is increasing in the visual tracking field thanks to their ability to handle multi-modal distributions in cluttered scenes. Traditional particle filters utilize transition prior as importance sampling function, but this can result in poor posterior sampling. The objective of this research is to investigate and propose stable face tracker capable of dealing with challenges like rapid and random motion of head, scale changes when people are moving closer or further from the camera, motion of multiple people with close skin tones in the vicinity of the model person, presence of clutter and occlusion of face. The main focus has been on investigating an efficient method to address the sensitivity of the colour-based trackers in case of gradual or drastic illumination variations. The particle filter is used to overcome the instability of face trackers due to nonlinear and random head motions. To increase the traditional particle filter\u27s sampling efficiency an improved version of the particle filter is introduced that considers the latest measurements. This improved particle filter employs a new colour-based bottom-up approach that leads particles to generate an effective proposal distribution. The colour-based bottom-up approach is a classification technique for fast skin colour segmentation. This method is independent to distribution shape and does not require excessive memory storage or exhaustive prior training. Finally, to address the adaptability of the colour-based face tracker to illumination changes, an original likelihood model is proposed based of spatial rank information that considers both the illumination invariant colour ordering of a face\u27s pixels in an image or video frame and the spatial interaction between them. The original contribution of this work lies in the unique mixture of existing and proposed components to improve colour-base recognition and tracking of faces in complex scenes, especially where drastic illumination changes occur. Experimental results of the final version of the proposed face tracker, which combines the methods developed, are provided in the last chapter of this manuscript

Objects extraction and recognition for camera-based interaction : heuristic and statistical approaches

In this thesis, heuristic and probabilistic methods are applied to a number of problems for camera-based interactions. The goal is to provide solutions for a vision based system that is able to extract and analyze interested objects in camera images and to use that information for various interactions for mobile usage. New methods and new attempts of combination of existing methods are developed for different applications, including text extraction from complex scene images, bar code reading performed by camera phones, and face/facial feature detection and facial expression manipulation. The application-driven problems of camera-based interaction can not be modeled by a uniform and straightforward model that has very strong simplifications of reality. The solutions we learned to be efficient were to apply heuristic but easy of implementation approaches at first to reduce the complexity of the problems and search for possible means, then use developed statistical learning approaches to deal with the remaining difficult but well-defined problems and get much better accuracy. The process can be evolved in some or all of the stages, and the combination of the approaches is problem-dependent. Contribution of this thesis resides in two aspects: firstly, new features and approaches are proposed either as heuristics or statistical means for concrete applications; secondly engineering design combining seveal methods for system optimization is studied. Geometrical characteristics and the alignment of text, texture features of bar codes, and structures of faces can all be extracted as heuristics for object extraction and further recognition. The boosting algorithm is one of the proper choices to perform probabilistic learning and to achieve desired accuracy. New feature selection techniques are proposed for constructing the weak learner and applying the boosting output in concrete applications. Subspace methods such as manifold learning algorithms are introduced and tailored for facial expression analysis and synthesis. A modified generalized learning vector quantization method is proposed to deal with the blurring of bar code images. Efficient implementations that combine the approaches in a rational joint point are presented and the results are illustrated.reviewe