Fast and Accurate 3D Face Recognition Using Registration to an Intrinsic Coordinate System and Fusion of Multiple Region classifiers

In this paper we present a new robust approach for 3D face registration to an intrinsic coordinate system of the face. The intrinsic coordinate system is defined by the vertical symmetry plane through the nose, the tip of the nose and the slope of the bridge of the nose. In addition, we propose a 3D face classifier based on the fusion of many dependent region classifiers for overlapping face regions. The region classifiers use PCA-LDA for feature extraction and the likelihood ratio as a matching score. Fusion is realised using straightforward majority voting for the identification scenario. For verification, a voting approach is used as well and the decision is defined by comparing the number of votes to a threshold. Using the proposed registration method combined with a classifier consisting of 60 fused region classifiers we obtain a 99.0% identification rate on the all vs first identification test of the FRGC v2 data. A verification rate of 94.6% at FAR=0.1% was obtained for the all vs all verification test on the FRGC v2 data using fusion of 120 region classifiers. The first is the highest reported performance and the second is in the top-5 of best performing systems on these tests. In addition, our approach is much faster than other methods, taking only 2.5 seconds per image for registration and less than 0.1 ms per comparison. Because we apply feature extraction using PCA and LDA, the resulting template size is also very small: 6 kB for 60 region classifiers

Linear, Deterministic, and Order-Invariant Initialization Methods for the K-Means Clustering Algorithm

Over the past five decades, k-means has become the clustering algorithm of choice in many application domains primarily due to its simplicity, time/space efficiency, and invariance to the ordering of the data points. Unfortunately, the algorithm's sensitivity to the initial selection of the cluster centers remains to be its most serious drawback. Numerous initialization methods have been proposed to address this drawback. Many of these methods, however, have time complexity superlinear in the number of data points, which makes them impractical for large data sets. On the other hand, linear methods are often random and/or sensitive to the ordering of the data points. These methods are generally unreliable in that the quality of their results is unpredictable. Therefore, it is common practice to perform multiple runs of such methods and take the output of the run that produces the best results. Such a practice, however, greatly increases the computational requirements of the otherwise highly efficient k-means algorithm. In this chapter, we investigate the empirical performance of six linear, deterministic (non-random), and order-invariant k-means initialization methods on a large and diverse collection of data sets from the UCI Machine Learning Repository. The results demonstrate that two relatively unknown hierarchical initialization methods due to Su and Dy outperform the remaining four methods with respect to two objective effectiveness criteria. In addition, a recent method due to Erisoglu et al. performs surprisingly poorly.Comment: 21 pages, 2 figures, 5 tables, Partitional Clustering Algorithms (Springer, 2014). arXiv admin note: substantial text overlap with arXiv:1304.7465, arXiv:1209.196

Simultaneous localization and map-building using active vision

An active approach to sensing can provide the focused measurement capability over a wide field of view which allows correctly formulated Simultaneous Localization and Map-Building (SLAM) to be implemented with vision, permitting repeatable long-term localization using only naturally occurring, automatically-detected features. In this paper, we present the first example of a general system for autonomous localization using active vision, enabled here by a high-performance stereo head, addressing such issues as uncertainty-based measurement selection, automatic map-maintenance, and goal-directed steering. We present varied real-time experiments in a complex environment.Published versio