A vision-based side face posture resolving method and an emotion perception autonomous service robot

A profile and solving technology, applied in the field of emotion-sensing autonomous service robots, can solve the problem of inability to recognize human identity and emotions, and achieve the effect of expanding the scope of application

Active Publication Date: 2019-06-14
INST OF ELECTRONICS CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a vision-based side face posture calculation method and an emotion-aware autonomous service robot to solve the problem of being unable to recognize a person's identity and emotion when making a side face

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  • A vision-based side face posture resolving method and an emotion perception autonomous service robot
  • A vision-based side face posture resolving method and an emotion perception autonomous service robot

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Embodiment Construction

[0058] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0059] The invention adopts the autonomous movement technology of the robot to solve the side face emotion recognition. Just like a servant will walk in front of the master to observe the master’s emotions, the robot located on the side of the master’s face will automatically move to the master’s face when he observes some characteristic sounds (crying, laughing, shouting, etc.) facial expressions, we can provide accurate and effective services for them.

[0060] This requires two key technologies:

[0061] (1) The robot should be able to calculate the angle and pitch angle of the person's side face according to the observed side face, and then move autonomously to the front of the owner's face according to these two ang...

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Abstract

The invention discloses a vision-based side face posture resolving method and an emotion perception autonomous service robot, wherein the side face posture resolving method is used for acquiring an attitude angle of a face image detected in a current state relative to a face in a front face state in real time, and comprises the following specific steps of constructing an attitude change model of aface area; constructing a shearing angle model of the face; and constructing an attitude angle resolving model based on shear angle elimination. The emotion perception autonomous service robot comprises an acquisition module which is provided with the side face posture resolving method in advance; a navigation module used for controlling the robot to move to a place over against the human face tocollect a front face image of the human face according to the human face attitude angle obtained by the collection module; and a face recognition and emotion sensing module used for finally realizingthe identity recognition and emotion detection. According to the vision-based side face posture resolving method and the emotion perception autonomous service robot provided by the invention, the problem that the identity and emotion of a person cannot be identified during side face is solved.

Description

technical field [0001] The invention relates to the fields of face recognition and robots, in particular to a vision-based method for calculating side face gestures and an emotion-perceiving autonomous service robot. Background technique [0002] Emotion recognition is a function reused by human beings, and it is also necessary for service robots. Only when it can accurately recognize the emotions of its masters can robots provide high-quality services to their masters and become a satisfactory "servant". [0003] The key problem that restricts the accuracy of emotion recognition is that robots may not be able to effectively observe human faces. The best emotion recognition position is in front of the human face, but it is unrealistic to place the robot in front of the human at all times, and it will make people feel very inconvenient. Humans want robots to be like human servants. For servants, they usually stay on the side of the master, watching the words and deeds, and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00
Inventor 曹天扬刘昶陈嘉民李彤
Owner INST OF ELECTRONICS CHINESE ACAD OF SCI
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