Real-time face and gesture analysis for human-robot interaction

This paper presents head and hand gestures recognition system for Human Computer Interaction (HCI). Head and Hand gestures are an important modality for human computer interaction. Vision based recognition system can give computers the capability of understanding and responding to the hand and head gestures. The aim of this paper is the proposal of real time vision system for its application within a multimedia interaction environment. This recognition system consists of four modules, i.e. capturing the image, image extraction, pattern matching and command determination. If hand and head gestures are shown in front of the camera, hardware will perform respective action. Gestures are matched with the stored database of gestures using pattern matching. Corresponding to matched gesture, the hardware is moved in left, right, forward and backward directions. An algorithm for optimizing connected component in gesture recognition is proposed, which makes use of segmentation in two images. Connected component algorithm scans an image and group its pixels into component based on pixel connectivity i.e. all pixels in connected component share similar pixel intensity values and are in some way connected with each other. Once all groups have been determined, each pixel is labeled with a color according to component it was assigned to.

Automatic recognition of facial expressions and head gestures plays an important role in a wide range of research area including sign language recognition and human-computer interaction. In this work, we adopt the well-performing self-similarity based action recognition method to classify facial expressions and head gestures. Additionally, we propose a novel approach for facial gesture recognition based on the histogram of tracked facial landmarks. We fuse the presented techniques with our previous Hidden Markov Model based approach [1] and get 15% increase in classification results.

We proposed a facial motion tracking and expression recognition system based on video data. By a 3D deformable facial model, the online statistical model (OSM) and cylinder head model (CHM) were combined to track 3D facial motion in the framework of particle filtering. For facial expression recognition, a fast and efficient algorithm and a robust and precise algorithm were developed. With the first, facial animation and facial expression were retrieved sequentially. After that facial animation was obtained, facial expression was recognized by static facial expression knowledge learned from anatomical analysis. With the second, facial animation and facial expression were simultaneously retrieved to increase the reliability and robustness with noisy input data. Facial expression was recognized by fusing static and dynamic facial expression knowledge, the latter of which was learned by training a multi-class expressional Markov process using a video database. The experiments showed that facial motion tracking by OSM+CHM is more pose robust than that by OSM, and the facial expression score of the robust and precise algorithm is higher than those of other state-of-the-art facial expression recognition methods.

MuViH: Multi-View Hand gesture dataset and recognition pipeline for human–robot interaction in a collaborative robotic finishing platform

Human hand recognition plays an important role in a wide range of applications ranging from sign language translators, gesture recognition, augmented reality, surveillance and medical image processing to various Human Computer Interaction (HCI) domains. Human hand is a complex articulated object consisting of many connected parts and joints. Therefore, for applications that involve HCI one can find many challenges to establish a system with high detection and recognition accuracy for hand posture and/or gesture. Hand posture is defined as a static hand configuration without any movement involved. Meanwhile, hand gesture is a sequence of hand postures connected by continuous motions. During the past decades, many approaches have been presented for hand posture and/or gesture recognition. In this paper, we provide a survey on approaches which are based on Hidden Markov Models (HMM) for hand posture and gesture recognition for HCI applications.

Background: Individuals with child maltreatment (CM) experiences show alterations in emotion recognition (ER). However, previous research has mainly focused on populations with specific mental disorders, which makes it unclear whether alterations in the recognition of facial expressions are related to CM, to the presence of mental disorders or to the combination of CM and mental disorders, and on ER of emotional, rather than neutral facial expressions. Moreover, commonly, recognition of static stimulus material was researched. Objective: We assessed recognition of dynamic (closer to real life) negative, positive and neutral facial expressions in individuals characterised by CM, rather than a specific mental disorder. Moreover, we assessed whether they show a negativity bias for neutral facial expressions and whether the presence of one or more mental disorders affects recognition. Methods: Ninety-eight adults with CM experiences (CM+) and 60 non-maltreated (CM−) adult controls watched 200 non-manipulated coloured video sequences, showing 20 neutral and 180 emotional facial expressions, and indicated whether they interpreted each expression as neutral or as one of eight emotions. Results: The CM+ showed significantly lower scores in the recognition of positive, negative and neutral facial expressions than the CM− group (p < .050). Furthermore, the CM+ group showed a negativity bias for neutral facial expressions (p < .001). When accounting for mental disorders, significant effects stayed consistent, except for the recognition of positive facial expressions: individuals from the CM+ group with but not without mental disorder scored lower than controls without mental disorder. Conclusions: CM might have long-lasting influences on the ER abilities of those affected. Future research should explore possible effects of ER alterations on everyday life, including implications of the negativity bias for neutral facial expressions on emotional wellbeing and relationship satisfaction, providing a basis for interventions that improve social functioning.

Facial expressions recognition and synthesis are important research fields to study how human beings reflect to environments in affective computing. With the rapid development of mathematical theory on multivariate statistics and multi-media technology especially image processing, facial expressions recognition researchers have achieved many useful results. Recently studies show that approaches to facial modeling and expressions recognition and synthesis analysis could be adapted to control security or even real-time health monitoring in the real world. Similarity, how to achieve facial expressions recognition and synthesis for independent-free mechanism is a central design in general. Based on the cognitive analysis of independent user's affective facial recognition researches we proposed an emotions composition model to dope out what are the user's new affective facial expressions. At this point, principal component, cluster and discriminate analysis were applied to show and verify independent user's affective expressions can be composited for synthesis by basic facial expressions such as happy, neutral and unhappy. Experiments were conducted to prove our models to be very significant.

This paper proposes a unified facial motion tracking and expression recognition framework for monocular video. For retrieving facial motion, an online weight adaptive statistical appearance method is embedded into the particle filtering strategy by using a deformable facial mesh model served as an intermediate to bring input images into correspondence by means of registration and deformation. For recognizing facial expression, facial animation and facial expression are estimated sequentially for fast and efficient applications, in which facial expression is recognized by static anatomical facial expression knowledge. In addition, facial animation and facial expression are simultaneously estimated for robust and precise applications, in which facial expression is recognized by fusing static and dynamic facial expression knowledge. Experiments demonstrate the high tracking robustness and accuracy as well as the high facial expression recognition score of the proposed framework.

In order to solve the problems of low average gradient and long recognition time in traditional facial expression recognition method, a multi-scale detail enhancement method for facial dynamic expression recognition of sprint athletes is proposed. A principal component analysis method was used to establish the facial expression feature subspace of sprinters, to project and reduce the dimension of the facial dynamic expression feature vector of sprinters, and to obtain the low frequency information and high frequency information of the facial image of sprinters by bilateral filtering. The multi-scale details of expression are enhanced by using side suppression network model and improving image S curve. The feature vector of facial dynamic expression is input into support vector machine to recognise the facial dynamic expression of sprinter. Experimental results show that the average value of annoying gradient is about 98 and the shortest time s. is about 1.9.

Objectives: Attention-deficit/hyperactivity disorder (ADHD) is the most frequent neurobehavioural disorder in childhood. ADHD is associated with impaired academic performance, cognitive, and emotional deficits. Moreover, comorbid oppositional defiant disorder (ODD) is leading to more severe impairment in social performance. Social cognition involves recognition, encoding, and interpretation of emotions from faces. Basic facial expressions that include sadness, happiness, anger, disgust, fear, and surprise are the easiest emotions to recognize. We aimed to demonstrate facial expression recognition impairments that might occur more frequently in children with co-occurring ADHD/ODD than patients with ADHD only. Thus, children with the co-occurrence of ODD may suffer more severely from social and behavioural difficulties.Methods: Forty patients diagnosed with ADHD and/or co-occurring ADHD/ODD according to DSM-IV-TR criteria were compared with a parallel (by gender, age, and educational state) 11 healthy children as a control group in this study. Clear facial images of each emotion were used as well as two additional sets of photos include 50% blurred images and cropped eye images were added as distractors then all images represented with black and white tone for emotion recognition task via facial expression. Angry expressions presented as target expressions. DSM-IV-Based Screening and Rating Scale for Children and Adolescents with attention deficit and disruptive behaviour disorders, the Conners’ Teachers Rating Scale/Revised Long Form and the Conners’ Parent Rating Scale/Revised Long Form were used to provide diagnostic objectivity.Results: Control group statistically performed better than ADHD group on recognition of emotional facial expressions. Results showed no statistically significant differences between the ADHD and ADHD/ODD group on recognition of emotional facial expressions. However, according to results of emotion recognition task via facial expressions, there were statistically significant differences between pure ADHD and comorbid ADHD+ODD groups in happy and neutral expressions. ADHD/ODD group tend to attribute more meaning to neutral facial expressions. Additionally there was statistically significant difference between control group and ADHD group according to recognition of angry expressions. There were statistically significant differences between the groups according to recognition of sad expressions in all clear, blurred, and eye photographs.Conclusions: Difficulties in recognizing emotional facial expressions were observed in children with ADHD. A statistically significant association was established between presence of ADHD and impaired recognition of facial emotion expressions independent from the scores of the disruptive behaviour rating scale. Comorbid ODD was not associated with recognition of emotional facial expressions including angry expressions. Recognition of angry expressions was not found as a predictor for disruptive behaviour disorders.

Facial expressions are an ideal means of communicating one’s emotions or intentions to others. This overview will focus on human facial expression recognition as well as robotic facial expression generation. In the case of human facial expression recognition, both facial expression recognition on predefined datasets as well as in real-time will be covered. For robotic facial expression generation, hand-coded and automated methods i.e., facial expressions of a robot are generated by moving the features (eyes, mouth) of the robot by hand-coding or automatically using machine learning techniques, will also be covered. There are already plenty of studies that achieve high accuracy for emotion expression recognition on predefined datasets, but the accuracy for facial expression recognition in real-time is comparatively lower. In the case of expression generation in robots, while most of the robots are capable of making basic facial expressions, there are not many studies that enable robots to do so automatically. In this overview, state-of-the-art research in facial emotion expressions during human–robot interaction has been discussed leading to several possible directions for future research.

In recent years, an increasing number of studies have examined the mechanisms underlying nonverbal emotional information processing in people with high social anxiety (HSA). However, most of these studies have focused on the processing of facial expressions, and there has been scarce research on gesture or even face-gesture combined processing in HSA individuals. The present study explored the processing characteristics and mechanism of the interaction between gestures and facial expressions in people with HSA and low social anxiety (LSA). The present study recruited university students as participants and used the Liebowitz Social Anxiety Scale scores to distinguish the HSA and LSA groups. We used a 2 (group: HSA and LSA) × 2 (emotion valence: positive, negative) × 2 (task: face, gesture) multifactor mixed design, and videos of a single face or gesture and combined face-gesture cues were used as stimuli. We found that (1) there is a distinction in the processing of faces and gestures, with individuals recognizing gestures faster than faces; (2) there is an attentional enhancement in the processing of gestures, particularly for negative gestures; and (3) when the emotional valence of faces and gestures align, it facilitates the recognition of both. However, incongruent gestures have a stronger impact on the processing of facial expressions compared to facial expressions themselves, suggesting that the processing of facial emotions is more influenced by environmental cues provided by gestures. These findings indicated that gestures played an important role in emotional processing, and facial emotional processing was more dependent on the environmental cues derived from gestures, which helps to clarify the reasons for biases in the interpretation of emotional information in people with HSA.

With the work and study pressure on people increasing and the importance of mental health problems on the rise, facial expression analysis plays an important role in mental health auxiliary diagnosis and treatment (MHADT). This study proposes a facial expression localization and recognition model that integrates Main Directional Mean Optical Flow (MDMO) with the Transformer architecture. It addresses the problems of insufficient generalization ability and limited temporal modeling ability of traditional methods in facial expression recognition. The study is based on the authoritative Audio/Visual Emotion Challenge 2019 Depression Detection Sub-challenge (AVEC2019 DDS) dataset in the mental health field, which contains 163 training samples, 56 validation samples, and 56 test samples. With Explicit Shape Regression, Local Binary Patterns, Mnemonic Descent Method, Convolutional Neural Network, and benchmark models as comparison objects, it systematically evaluates the model's performance in error, accuracy, and processing speed. The results show that the model achieves the best performance in both facial expression localization and recognition tasks. The validation set errors are 7.26 and 6.85, the localization accuracy reaches 89.6%, and the recognition accuracy reaches 88.9%, which is significantly better than other methods. At the same time, its image processing time is 55 milliseconds (ms) and 44ms, balancing high precision and real-time performance. The study indicates that the fusion of MDMO and Transformer can effectively capture the spatial and temporal features of facial expressions. Thus, this fusion method provides an efficient, stable, and scalable technical solution for emotion recognition in MHADT. This improves both the FER and localization accuracy and effect. Besides, it provides a novel reference in both approaches and application level for the intelligent development of mental health evaluation.

The correct identification of facial expressions is critical for understanding the intention of others during social communication in the daily life of all primates. Here we used ultra-high-field fMRI at 9.4 T to investigate the neural network activated by facial expressions in awake New World common marmosets from both male and female sex, and to determine the effect of facial motions on this network. We further explored how the face-patch network is involved in the processing of facial expressions. Our results show that dynamic and static facial expressions activate face patches in temporal and frontal areas (O, PV, PD, MD, AD, and PL) as well as in the amygdala, with stronger responses for negative faces, also associated with an increase of the respiration rates of the monkey. Processing of dynamic facial expressions involves an extended network recruiting additional regions not known to be part of the face-processing network, suggesting that face motions may facilitate the recognition of facial expressions. We report for the first time in New World marmosets that the perception and identification of changeable facial expressions, vital for social communication, recruit face-selective brain patches also involved in face detection processing and are associated with an increase of arousal.SIGNIFICANCE STATEMENT Recent research in humans and nonhuman primates has highlighted the importance to correctly recognize and process facial expressions to understand others' emotions in social interactions. The current study focuses on the fMRI responses of emotional facial expressions in the common marmoset (Callithrix jacchus), a New World primate species sharing several similarities of social behavior with humans. Our results reveal that temporal and frontal face patches are involved in both basic face detection and facial expression processing. The specific recruitment of these patches for negative faces associated with an increase of the arousal level show that marmosets process facial expressions of their congener, vital for social communication.

ABSTRACTRecognising a facial expression is more difficult when the expresser's body conveys incongruent affect. Existing research has documented such interference for universally recognisable bodily expressions. However, it remains unknown whether learned, conventional gestures can interfere with facial expression processing. Study 1 participants (N = 62) viewed videos of people simultaneously producing facial expressions and hand gestures and reported the valence of either the face or hand. Responses were slower and less accurate when the face-hand pairing was incongruent compared to congruent. We hypothesised that hand gestures might exert an even stronger influence on facial expression processing when other routes to understanding the meaning of a facial expression, such as with sensorimotor simulation, are disrupted. Participants in Study 2 (N = 127) completed the same task, but the facial mobility of some participants was restricted, which disrupted face processing in prior work. The hand-face congruency effect from Study 1 was replicated. The facial mobility manipulation affected males only, and it did not moderate the congruency effect. The present work suggests the affective meaning of conventional gestures is processed automatically and can interfere with face perception, but does not suggest that perceivers rely more on gestures when sensorimotor face processing is disrupted.