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Face detection using 3-D time-of-flight and colour cameras

: Fischer, Jan; Seitz, Daniel; Verl, Alexander

Informationstechnische Gesellschaft -ITG-, Information Technology Society of VDE; Verband Deutscher Maschinen- und Anlagenbau e.V. -VDMA-, Fachverband Robotik und Automation, Frankfurt/Main; International Federation of Robotics; Deutsche Gesellschaft für Robotik -DGR-:
ISR/ROBOTIK 2010, Proceedings for the joint conference of ISR 2010, 41st International Symposium on Robotics und ROBOTIK 2010, 6th German Conference on Robotics : 7-9 June 2010 - Parallel to AUTOMATICA
Berlin: VDE-Verlag, 2010
ISBN: 978-3-8007-3273-9
International Symposium on Robotics (ISR) <41, 2010, Munich>
German Conference on Robotics (ROBOTIK) <6, 2010, Munich>
Internationale Fachmesse für Automation und Mechatronik (Automatica) <4, 2010, Munich>
Conference Paper
Fraunhofer IPA ()
3D-Bildverarbeitung; time-of-flight; Gesichtserkennung; face detection; Serviceroboter; Roboter; Bilderkennung

This paper presents a novel method to apply standard 2-D face detection methods on 3-D data. The procedure uses a sensor setup consisting of a 3-D time-of-flight camera and a colour camera. At first, face detection is performed on the less structured and low-resolution 3-D range image. Only for those areas regarded as faces on the 3-D range image, processing continues on the corresponding high-resolution 2-D colour image areas. This enables a pre-filtering of the visible area prior to the actual face detection step on selected colour regions.