Video arrays for real-time tracking of person,head, and face in an intelligent room

Real-time three-dimensional tracking of people is an important requirement for a growing number of applications. In this paper we describe two trackers; both of them use a network of video cameras for person tracking. These trackers are called a rectilinear video array tracker (R-VAT) and an omnidirectional video array tracker (O-VAT), indicating the two different ways of video capture. The specific objectives of this paper are twofold: (i) to present a systematic comparison of these two trackers using an extensive series of experiments conducted in an `intelligent' room; (ii) to develop a real-time system for tracking the head and face of a person, as an extension of the O-VAT approach. The comparative research indicates that O-VAT is more robust to the number of people, less complex and runs faster, needs manual camera calibration, and the integrated omnidirectional video network has better reconfigurability. The person head and face tracker study shows that such a system can serve as a most effective input stage for face recognition and facial expression analysis modules.     

基于聚类的人脸图像检索及相关反馈

提出了一种基于聚类的人脸图像检索算法. 首先利用归一化分割(Normalized cuts, NCuts)在每个时间段内分别对人脸聚类, 使同一个人在不同情况下的人脸图像聚为一类. 其次采用连续AdaBoost算法学习得到的人脸识别分类器度量人脸之间的相似度, 并进一步提出查询人脸与人脸聚类之间的相似度用于检索. 为了进一步提高性能, 用户可以在线标定错检和漏检的结果, 相关反馈环节把用户的交互标定结果作为约束条件重新对人脸聚类. 本文把人脸图像检索算法应用于自动的检索系统中, 在包含超过一千张人脸图像的家庭数码相册上, 通过与其他方法的对比实验证明了基于聚类的人脸图像检索算法是有效的.     

Pose-Robust Facial Expression Recognition Using View-Based 2D $+$ 3D AAM

This paper proposes a pose-robust face tracking and facial expression recognition method using a view-based 2D 3D active appearance model (AAM) that extends the 2D 3D AAM to the view-based approach, where one independent face model is used for a specific view and an appropriate face model is selected for the input face image. Our extension has been conducted in many aspects. First, we use principal component analysis with missing data to construct the 2D 3D AAM due to the missing data in the posed face images. Second, we develop an effective model selection method that directly uses the estimated pose angle from the 2D 3D AAM, which makes face tracking pose-robust and feature extraction for facial expression recognition accurate. Third, we propose a double-layered generalized discriminant analysis (GDA) for facial expression recognition. Experimental results show the following: 1) The face tracking by the view-based 2D 3D AAM, which uses multiple face models with one face model per each view, is more robust to pose change than that by an integrated 2D 3D AAM, which uses an integrated face model for all three views; 2) the double-layered GDA extracts good features for facial expression recognition; and 3) the view-based 2D 3D AAM outperforms other existing models at pose-varying facial expression recognition.     

彩色图像的实时人脸跟踪方法

本文提出一种彩色图像序列中的人脸跟踪方法。本文所提出的跟踪模式包括失脸肤色模型及运动模型。在人脸肤色模型中，首先将图像的ＲＧＢ空间变换到色度空间，然后利用最大能量坐标和矩表征色度空间的直方图分布。运动模型由运动检测与运动预测构成，以减少搜索区域，提高检测速度。最后，介绍根据上述技术实现的在线人脸跟踪系统。实验结果表明，本文提出的跟踪方法可以在复杂背景中实时地跟踪人脸的自由运动。     

多用途人脸识别系统的设计与实现

人脸识别技术是近年来研究的一个热点,众多的人脸识别系统应运而生。提出了一种多用途人脸识别系统,可用作实际环境中智能监控,也可用作实验室环境下的算法测试。该系统整合了人脸检测、正则化、识别等模式识别处理技术,可以在复杂环境下实时、鲁棒地进行人脸识别。系统设计过程中引入了BioAPI国际标准,实现了对相关行业标准的兼容性,便利了算法及系统的实用化。     

Efficient 3D reconstruction for face recognition

Face recognition with variant pose, illumination and expression (PIE) is a challenging problem. In this paper, we propose an analysis-by-synthesis framework for face recognition with variant PIE. First, an efficient two-dimensional (2D)-to-three-dimensional (3D) integrated face reconstruction approach is introduced to reconstruct a personalized 3D face model from a single frontal face image with neutral expression and normal illumination. Then, realistic virtual faces with different PIE are synthesized based on the personalized 3D face to characterize the face subspace. Finally, face recognition is conducted based on these representative virtual faces. Compared with other related work, this framework has following advantages: (1) only one single frontal face is required for face recognition, which avoids the burdensome enrollment work; (2) the synthesized face samples provide the capability to conduct recognition under difficult conditions like complex PIE; and (3) compared with other 3D reconstruction approaches, our proposed 2D-to-3D integrated face reconstruction approach is fully automatic and more efficient. The extensive experimental results show that the synthesized virtual faces significantly improve the accuracy of face recognition with changing PIE.     

基于YOLOv3与ResNet50的摄影机器人人脸识别跟踪系统

虚拟演播室下,针对需要摄影机器人来自动完成对主持人的识别并对其进行镜头跟踪的任务,提出一种在基于YOLOv3完成人脸检测的基础上,构建ResNet50网络,对主持人进行人脸识别及镜头跟踪的系统。为提高其在开放集上人脸识别的精度,基于CASIA-FaceV5与PubFig数据集构建人脸训练集,在改进的ResNet50模型上完成模型的联合监督训练。结合摄影机器人运动控制算法进行实验,实验表明该系统具有较好的识别精度与实时性,能够满足虚拟演播室下摄影机器人人脸跟踪要求。     

基于多Inception结构的卷积神经网络人脸识别算法

人脸识别是视觉识别的一个重要领域,由于人脸识别尺度变化范围大,光照、姿态变化剧烈以及遮挡问题,导致该类非限制条件下的识别难度较大,为了解决该类问题,本文提出了一种基于Tensorflow平台的多Inception模型,通过将多个Inception结构进行串联,再通过分解卷积核的方式减少输入参数,实现了多维度同时卷积再聚合,提高了人脸识别的精度.实验结果表明,该方法在较少参数的条件下能提取出更具区分度的人脸特征,与分类损失方法及融合了其他度量学习方式的方法相比,提高了识别准确率,减少了计算时间.     

基于多尺度建议框的目标跟踪误差修正方法

随着深度学习技术引入视觉目标跟踪领域,目标跟踪算法的精度和鲁棒性有了很大的提高。但在低空无人机跟踪目标的实际场景中,情况比较复杂,如相机的抖动、大量的遮挡、视角和焦距的改变等,使得跟踪算法的准确性受到极大挑战。目前的算法大多建立在目标外观变化缓慢的前提假设下,在跟踪的过程中不具备检测和修复漂移（跟踪误差）的能力。针对该问题,提出了一种基于多尺度建议框的目标跟踪误差修正方法。离线阶段,利用大量的已标注的目标样本训练基于多尺度建议框的目标跟踪修正模型,获取不同类别目标的先验知识。在线阶段在核相关滤波跟踪的基础上,依据相关响应置信度自适应评价的结果,通过目标跟踪修正模型不定期重新初始化目标的位置,避免了因为误差累积而导致跟踪失败。算法在无人机航拍数据集上进行了测试,结果表明,该跟踪算法在目标发生较大形变的情况下能较好的修正跟踪漂移问题。相比于其他几种算法,目标跟踪的成功率和精度分别提高了14.3%和3.1%。     

彩色视频序列图像中的人脸跟踪方法

针对彩色视频序列图像的人脸检测，提出了一种基于肤色的人脸跟踪方法。该方法首先在Hsu提出的肤色模型基础上，采样一种自肤色分割算法来提取复杂背景下人脸的肤色特征，与传统的采用固定肤色模型的检测算法相比，该方法具有更好的检测效果；然后，在人脸跟踪过程中采用Condensation滤波跟踪算法，并对算法做了两点改进，即在跟踪过程中采用基于Metropolis算法的重采样方法以及自适应的动态模型，实现了复杂背景下的人脸自由运动的跟踪，并从各种影片中截取了彩色视频序列图像进行了测试实验。实验结果表明，该方法有效地解决了复杂背景下人脸自由运动、光照变化及部分遮挡的问题，且精度较高。     

Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3)

This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear output‐tracking controllers are developed to follow (i) an attitude command, and (ii) a position command for the vehicle center of mass. The controlled system has the desirable properties that the tracking errors are uniformly ultimately bounded, and the size of the ultimate bound can be reduced arbitrarily by control system parameters. Numerical examples illustrating complex maneuvers are provided.     

视频监控下的人脸跟踪与识别系统

针对智能视频监控系统的要求,设计了一个基于视频监控的自动多人脸跟踪识别系统,该系统的功能是实时跟踪视频监控范围内的人脸并鉴别人脸的身份。针对复杂背景及类似人脸区域的影响,提出了一种Adaboost人脸检测算法和主动形状模型相结合的人脸检测算法,实现人脸的准确检测;针对视频监控范围内人脸偏转、交错以及由于人员不断出入而导致人脸数目发生变化的问题,提出了CamShift和Kalman滤波器相结合的多人脸跟踪算法,同时对跟踪到的人脸进行实时身份识别。实验证明,该系统在视频监控范围内对人脸检测和身份识别准确,跟踪实时性好,是一种建立实时视频监控系统的实用方法。     

三维人脸识别研究进展

回顾了人脸机器识别的发展现状，阐述了3D人脸识别面临的挑战；讨论了基于3D人脸通用模型的解决方案，并且介绍了人脸模型的建模方法和人脸通用模型．将3D人脸识别问题分为人脸重建、头部跟踪、人脸识别和表情合成四类，并详细对四类问题的主流实现方法和手段进行了综述．     

二维及三维多模人脸数据库构建

基于图像的二维人脸识别技术日趋成熟,但仍受光照、姿态和表情等变化的影响。利用三维人脸模型提高人脸识别性能并将其应用于实际成为近几年学术界的研究趋势。本文提出了SWJTU-MF多模人脸数据库(SWJTU multimodal face database, SWJTU-MF Database),包 含200个中性表情中国人的4种人脸样本数据,包括可见光图像、二维视频序列、三维人脸(高精度)和立体视频序列。本文首先分类介绍现有的三维人脸识别算法,然后概述相关的多模人脸数据库,接着提出SWJTU-MF多模人脸数据库,并说明数据库的采集装置、采集环境、采集过程及数据内容,随后简要展示数据标准化过程。最后讨论本数据库面向的应用研究,并给出SWJTU-MF建议的评测协议。     

基于在线特征选择的实时多姿态人脸跟踪

This paper presents a system that is able to reliably track multiple faces under varying poses(tilted and rotated)in real time.The system consists of two interactive modules.The first module performs the detection of the face that is subject to rotation. The second module carries out online learning-based face tracking.A mechanism that switches between the two modules is embedded into the system to automatically decide the best strategy for reliable tracking.The mechanism enables a smooth transit between the detection and tracking modules when one of them gives either nil or unreliable results.Extensive experiments demonstrate that the system can reliably carry out real time tracking of multiple faces in a complex background under different conditions such as out-of-plane rotation,tilting,fast nonlinear motion,partial occlusion,large scale changes,and camera motion.Moreover,it runs at a high speed of 10～12 frames per second(fps)for an image of 320×240.     

MODELLING FACIAL COLOUR AND IDENTITY WITH GAUSSIAN MIXTURES

An integrated system for the acquisition, normalisation and recognition of moving faces in dynamic scenes is introduced. Four face recognition tasks are defined and it is argued that modelling person-specific probability densities in a generic face space using mixture models provides a technique applicable to all four tasks. The use of Gaussian colour mixtures for face detection and tracking is also described. Results are presented using data from the integrated system.     

基于老化模型的跨年龄人脸识别研究进展

跨年龄人脸识别是目前人脸识别中的一大难点问题,人脸特征会随着年龄的增长发生变化,导致识别准确率降低,利用老化模型生成老化图像后进行人脸识别为该问题提供了一种解决方案。随着计算机技术和深度学习的广泛应用,人脸老化的真实性、老化效果、算法效率都得到了明显的提升,系统综述了基于老化模型的跨年龄人脸识别的研究现状,对人脸老化方法进行了详细地梳理,系统介绍了老化模型的方法演变和各类方法的优缺点,并对现有的模型评价方法进行了总结归纳。对现有的可用于跨年龄人脸识别的数据集进行了详细介绍,从数据量、年龄跨度、年龄准确性、数据集使用情况等方面进行了对比分析。结合实际应用对基于老化模型的跨年龄人脸识别中待解决的问题进行了分析和讨论,并对未来研究方向做出预测和展望。     

基于在线特征选择的实时多姿态人脸跟踪

针对复杂条件下的人脸跟踪问题, 将显著区域跟踪算法和基于 Adaboost 的人脸检测算法相结合, 研发了一个实时多姿态人脸跟踪系统. 系统采用数据关联结果, 自动选择和切换检测器与跟踪器, 并通过引入环境信息增强跟踪算法的稳定性. 实验表明, 系统可在目标姿态变化、摄像机运动等复杂条件下进行自动人脸检测与跟踪, 对 320x240 的图像序列处理速度达到 10-12帧/秒.     

人脸检测及分割方法研究

人脸检测和分割是进行人脸分析和识别的重要组成部分,其目的是从复杂背景图像中检测出人脸的位置,并把人脸分割出来。虽然人们可以毫不困难地在复杂背景中检测和识别出人脸,但是要建立一套完全自动化的人脸和识别系统却是非常困难的。近年来随着计算机技术和图像处理方法的不断发展,出现了各种不同的人脸检测方法。应用了一种基于YIQ颜色模型的人脸检测方法,并且利用惯量最小化原理进行人脸图像的姿态调整,然后进行分割提取。试验结果表明,该方法能较好地从复杂背景中检测出人脸区域并能较完整地分割出人脸。     

Adaptive multi-cue tracking by online appearance learning

This paper proposes a multi-cue based appearance learning algorithm for object tracking. In each frame, the target object is represented by different cues in the image-as-matrix form. This representation can describe the target from different perspectives and can preserve the spatial correlation information inside the target region. Based on these cues, multiple appearance models are learned online by bilinear subspace analysis to account for the target appearance variations over time. Tracking is formulated within the Bayesian inference framework, in which the observation model is constructed by fusing all the learned appearance models. The combination of online appearance modeling and weight update of each appearance model can adapt our tracking algorithm to both the target and background changes. We test our algorithm on a variety of challenging sequences by tracking car, face, pedestrian, and so on. Experimental results and comparisons to several state-of-the-art methods show improved tracking performance.