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A Real Time and Robust Facial Expression Recognition and Imitation approach for Affective Human-Robot Interaction Using Gabor filtering

A Real Time and Robust Facial Expression Recognition and Imi...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Cid, Felipe Prado, Jose Augusto Bustos, Pablo Nunez, Pedro Robotics and Artificial Vision Lab. Robolab Group University of Extremadura Spain Institute of Systems and Robotics Dept. Electrical and Computer Engineering University of Coimbra Portugal

ISBN: (纸本)9781467363587

Facial expressions are a rich source of communicative information about human behavior and emotion. This paper presents a real-time system for recognition and imitation of facial expressions in the context of affective Human Robot Interaction. The proposed method achieves a fast and robust facial feature extraction based on consecutively applying filters to the gradient image. An efficient Gabor filter is used, along with a set of morphological and convolutional filters to reduce the noise and the light dependence of the image acquired by the robot. Then, a set of invariant edge-based features are extracted and used as input to a Dynamic Bayesian Network classifier in order to estimate a human emotion. The output of this classifier updates a geometric robotic head model, which is used as a bridge between the human expressiveness and the robotic head. Experimental results demonstrate the accuracy and robustness of the proposed approach compared to similar systems.

关键词： Gabor filters belief networks edge detection emotion recognition face recognition feature extraction human-robot interaction image classification

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Human-robot dialogue and Collab.ration for social navigation in crowded environments 19

Human-robot dialogue and Collaboration for social navigation...

引用

19th IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2019

作者： Lobato, C. Vega-Magro, A. Núñez, P. Manso, L.J. Robotics and Artificial Vision Lab. RoboLab Group University of Extremadura Spain School of Engineering and Applied Science Aston University United Kingdom

ISBN: (纸本)9781728135588

Robot navigation in human-populated environments is a subject of great interest among the international scientific community. In order to be accepted in these scenarios, it is important for robots to navigate respecting social rules. Avoid getting too close to a person, not interrupting conversations or asking for permission or collab.ration when it is required by social conventions, are some of the behaviours that robots must exhibit. This paper presents a social navigation system that integrates different software agents within a cognitive architecture for robots and describes, as the main contribution, the corpus that allows to establish dialogues between robots and humans in real situations to improve the human-aware navigation system. The corpus has been experimentally evaluated by the simulation of different daily situations, where robots need to plan interactions with real people. The results are analysed qualitatively, according to the behaviour expected by the robot in the interaction performed. The results show how the corpus presented in this paper improves the robot navigation, making it more socially accepted. © 2019 IEEE.

关键词： Robots

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A novel multimodal emotion recognition approach for affective human robot interaction

A novel multimodal emotion recognition approach for affectiv...

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Workshop on Multimodal and Semantics for robotics Systems, MuSRobS 2015

作者： Cid, Felipe Manso, Luis J. Núñez, Pedro Robotics and Artificial Vision Lab. Robolab Group University of Extremadura Spain Institute of Electrical and Electronics Universidad Austral de Chile Chile

Facial expressions and speech are elements that provide emotional information about the user through multiple communication channels. In this paper, a novel multimodal emotion recognition system based on visual and auditory information processing is proposed. The proposed approach is used in real affective human robot communication in order to estimate five different emotional states (i.e., happiness, anger, fear, sadness and neutral), and it consists of two subsystems with similar structure. The first subsystem achieves a robust facial feature extraction based on consecutively applied filters to the edge image and the use of a Dynamic Bayessian Classifier. A similar classifier is used in the second subsystem, where the input is associated to a set of speech descriptors, such as speech-rate, energy and pitch. Both subsystems are finally combined in real time. The results of this multimodal approach show the robustness and accuracy of the methodology respect to single emotion recognition systems. Copyright © 2015 for the individual papers by the papers' authors.

关键词： Emotion Recognition

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Improvements and considerations related to human-robot interaction in the design of a new version of the robotic head Muecas

Improvements and considerations related to human-robot inter...

引用

Workshop the Path to Success: Failures in rEal Robots, FinE-R 2015 - co-located with IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015

作者： Cid, Felipe Manso, Luis J. Núñez, Pedro Institute of Electrical and Electronics Universidad Austral de Chile Independencia 460 Valdivia Chile Robotics and Artificial Vision Lab. Robolab Group University of Extremadura Spain

In this article the different decision-making that were followed in the design of the expressive robotic head Muecas are explained. Muecas is a system with a humancaricatured shape, equipped with a pair of robotic eyes, eyebrows, neck and mouth. The main goal in the design was to provide the robot with basic skills for an affective humanrobot interaction, where the emphaty and attention plays an important factor. When developing this robotic head, it was necessary to study a number of parameters and characteristics related to human anatomy and psychology, as well as other similar robotic heads or the opinions of experts. All the results of these study are pointed out in this paper. Throughout this work, the step followed in the design in conjuction with the main conclusions drawn from it, are explained. We want that our work helps researchers in this field in their decision making. Copyright © 2015 for the individual papers by the papers' authors.

关键词： Decision making

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A Real Time and Robust Facial Expression Recognition and Imitation approach for Affective Human-Robot Interaction Using Gabor filtering

A Real Time and Robust Facial Expression Recognition and Imi...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Felipe Cid Jose Augusto Prado Pablo Bustos Pedro Nunez Robotics and Artificial Vision Lab. Robolab Group University of Extremadura Spain Institute of Systems and Robotics Dept. Electrical and Computer Engineering University of Coimbra Portugal

ISBN: (纸本)9781467363563

关键词： Imitation approach emotion context of affective Human Robot Interaction

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Towards efficient human-robot cooperation for socially-aware robot navigation in human-populated environments: the SNAPE framework

Towards efficient human-robot cooperation for socially-aware...

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IEEE International Conference on robotics and Automation (ICRA)

作者： A. Vega-Magro R. Gondkar L.J. Manso P. Núñez Robotics and Artificial Vision Lab. RoboLab Group University of Extremadura Spain Pune Institute of Computer Technology Pune University India College of Engineering and Physical Sciences Aston University Birmingham UK

It is widely accepted that in the future, robots will cooperate with humans in everyday tasks. Robots interacting with humans will require social awareness when performing their tasks which will require navigation. While navigating, robots should aim to avoid distressing people in order to maximize their chance of social acceptance. For instance, avoiding getting too close to people or disrupting interactions. Most research approaches these problems by planning socially accepted paths, however, in everyday situations, there are many examples where a simple path planner cannot solve all of the predicted robots’ navigation problems. For instance, requesting permission to interrupt a conversation if an alternative path cannot be determined requires deliberative skills. This article presents the Social Navigation framework for Autonomous robots in Populated Environments (SNAPE), where different software agents are integrated within a robotics cognitive architecture. SNAPE addresses action planning aimed at social-awareness navigation in realistic situations: it plans socially accepted paths and conversations to negotiate its trajectory to reach targets. In this article, the framework is evaluated in different use-cases where the robot, during its navigation, has to interact with different people in order to reach its goal. The results show that participants report that the robot’s behavior was realistic and human-like.

关键词： Navigation Conferences Computer architecture Software agents Planning Trajectory Task analysis

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