Automatic face replacement for a humanoid robot with 3D face shape display

Maejima, Akinobu; Kuratate, Takaaki; Pierce, Brennand; Morishima, Shigeo; Cheng, Gordon

doi:10.1109/humanoids.2012.6651561

Cited by 6 publications

(5 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Gaze behaviour characterized as a necessary means for interaction and coordination in human conversations. The previous study on human conversation has investigated how people involve in gaze coordination [35], [36]. This exploration is generally biased, looking at each participant's gaze in segregation, and did not grab the knotty coordinate patterns in which mates' gaze behaviours interplay.…”

Section: A Related Workmentioning

confidence: 99%

“…The central purpose of gaze in people interaction is to regulate the meta-communication. Numerous robotic systems such as Robita [35], Robovie [67], and Cog [52] have employing gaze for meta-communication. To implement active eye contact in the human-initiative case (HIC) or the robot initiative case (RIC), both parties (i.e., the human (H) and the robot (R)) should notice that they are gazing at each other and intent to initiate interaction, which ensures gaze awareness.…”

Section: Conceptual Design Of Duplex Eye Contactmentioning

confidence: 99%

See 1 more Smart Citation

Development of Duplex Eye Contact Framework for Human-Robot Inter Communication

et al. 2021

View full text Add to dashboard Cite

Establishing eye contact is the fundamental key to begin any interaction between human-human and robot-human. Two approaches are available to develop an eye contact mechanism for robot-human interaction, such as simplex and duplex. The two most critical tasks: gaze crossing and gaze awareness, are prerequisite to implementing an active eye contact mechanism in any approach. However, most past robot-human interaction studies implemented a gaze crossing function to develop eye contact in the simplex mode where a robot holds for the human to initiate the communication. However, implementing gaze crossing alone is inadequate to create an active eye contact episode; the gaze awareness function also essential to achieve. This paper aims to develop a mechanism of duplex eye contact for robot-human inter-communication satisfying both functions. This work proposes a conceptual model of a duplex eye contact mechanism considering two cases: human initiative (where the human starts communication with the robot) and robot initiative (where the robot starts the communication with the participant) to achieve a duplex eye contact mechanism. Moreover, a simple robotic system is developed consisting of four software constituents: face detection module, gaze detection and tracking module, gaze awareness module, and robot response and control module to implement the conceptual model of duplex eye contact. Several preliminary experiments are performed to extract necessary cues for designing the duplex eye contact mechanism's behavioural protocol and present their results to show the usefulness of extracted cues. Moreover, the robotic framework results in a scenario (e.g., reading the book) with the proposed duplex eye contact mechanism are presented. The results show that the proposed scheme achieved 92% and 86% accuracy for human initiative case and robot initiative case, respectively in making eye contact.

show abstract

Section: A Related Workmentioning

confidence: 99%

Section: Conceptual Design Of Duplex Eye Contactmentioning

confidence: 99%

Development of Duplex Eye Contact Framework for Human-Robot Inter Communication

et al. 2021

View full text Add to dashboard Cite

show abstract

“…3D face has been extensively applied in the areas of face recognition (Artificial and Aryananda, 2002;Mian et al, 2006), expression recognition (Zhang et al, 2015). These face analysis technologies are of significance for human-robot cooperative tasks in a safe and intelligent state (Maejima et al, 2012). So 3D face reconstruction is a import topic, and it is meaningful to reconstruct specific 3D face from person-of-interest images under many challenge scenes.…”

Section: Introductionmentioning

confidence: 99%

Geometrical Consistency Modeling on B-Spline Parameter Domain for 3D Face Reconstruction From Limited Number of Wild Images

Peng

Tang³

et al. 2021

Front. Neurorobot.

View full text Add to dashboard Cite

A number of methods have been proposed for face reconstruction from single/multiple image(s). However, it is still a challenge to do reconstruction for limited number of wild images, in which there exists complex different imaging conditions, various face appearance, and limited number of high-quality images. And most current mesh model based methods cannot generate high-quality face model because of the local mapping deviation in geometric optics and distortion error brought by discrete differential operation. In this paper, accurate geometrical consistency modeling on B-spline parameter domain is proposed to reconstruct high-quality face surface from the various images. The modeling is completely consistent with the law of geometric optics, and B-spline reduces the distortion during surface deformation. In our method, 0th- and 1st-order consistency of stereo are formulated based on low-rank texture structures and local normals, respectively, to approach the pinpoint geometric modeling for face reconstruction. A practical solution combining the two consistency as well as an iterative algorithm is proposed to optimize high-detailed B-spline face effectively. Extensive empirical evaluations on synthetic data and unconstrained data are conducted, and the experimental results demonstrate the effectiveness of our method on challenging scenario, e.g., limited number of images with different head poses, illuminations, and expressions.

show abstract

“…In addition, the visual-based feedback that may be obtained by using a projector is able to represent a variety of realistic facial expressions. Maejima et al ( Maejima et al, 2012 ) proposed a retro-projected 3D face system for a human–robot interface. Kuratate et al ( Kuratate et al, 2011 ; Kuratate et al, 2013 ) developed a life-size talking head robotic system (Mask-bot) using a portable projector.…”

Section: Introductionmentioning

confidence: 99%

3D Facial Pain Expression for a Care Training Assistant Robot in an Elderly Care Education Environment

2021

View full text Add to dashboard Cite

As the elderly population increases, the importance of the caregiver’s role in the quality of life of the elderly has increased. To achieve effective feedback in terms of care and nursing education, it is important to design a robot that can express emotions or feel pain like an actual human through visual-based feedback. This study proposes a care training assistant robot (CaTARo) system with 3D facial pain expression that simulates an elderly person for improving the skills of workers in elderly care. First, in order to develop an accurate and efficient system for elderly care training, this study introduces a fuzzy logic–based care training evaluation method that can calculate the pain level of a robot for giving the feedback. Elderly caregivers and trainees performed the range of motion exercise using the proposed CaTARo. We obtained quantitative data from CaTARo, and the pain level was calculated by combining four key parameters using the fuzzy logic method. Second, we developed a 3D facial avatar for use in CaTARo that is capable of expressing pain based on the UNBC-McMaster Pain Shoulder Archive, and we then generated four pain groups with respect to the pain level. To mimic the conditions for care training with actual humans, we designed the system to provide pain feedback based on the opinions of experts. The pain feedback was expressed in real time by using a projector and a 3D facial mask during care training. The results of the study confirmed the feasibility of utilizing a care training robot with pain expression for elderly care training, and it is concluded that the proposed approach may be used to improve caregiving and nursing skills upon further research.

show abstract

Automatic face replacement for a humanoid robot with 3D face shape display

Cited by 6 publications

References 10 publications

Development of Duplex Eye Contact Framework for Human-Robot Inter Communication

Development of Duplex Eye Contact Framework for Human-Robot Inter Communication

Geometrical Consistency Modeling on B-Spline Parameter Domain for 3D Face Reconstruction From Limited Number of Wild Images

3D Facial Pain Expression for a Care Training Assistant Robot in an Elderly Care Education Environment

Contact Info

Product

Resources

About