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US 7,200,249 B2Granted
Robot device and face identifying method, and image identifying device and image identifying method
AssigneeSony Corporation
InventorsAtsushi Okubo, Kohtaro Sabe, Kenta Kawamoto, Masaki Fukuchi
Life of this patent
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Abstract
A robot apparatus includes face includes a face tracking module (M2) for tracking a face in an image photographed by a CCD camera, a face detecting module (M1) for detecting face data of the face in the image photographed by the image pickup device, based on the face tracking information by the face tracking module (M2) and a face identification module (M3) for identifying a specified face based on the face data as detected by the face data detecting module (M1).
Claims16
An autonomously acting robot apparatus comprising:
- image pickup means;
- face data tracking means for tracking a face changing in an image photographed by said image pickup means;
- face data detecting means for detecting face data of the face in the image photographed by said image pickup means, based on the face tracking information by said face tracking information;
- face identification means for identifying a specified face based on said face data as detected by said face data detection means;
- and
- learning means for using a difference between registered face data previously obtained and face data detected by said face data detection means to acquire a learned difference value to establish a characteristic space by said learned difference value.
3 more elements
A method for discriminating a face comprising:
- an image pickup step of photographing an image by image pickup means;
- a face tracking step of tracking a face moved in an image photographed at said image pickup step;
- a face data detection step of detecting face data of said face in the image photographed at said image pickup step based on the face tracking information obtained at said face tracking step;
- a person identifying step of identifying a specified person based on said face data detected at said face data detection step;
- and
- a learning step for using a difference between registered face data previously obtained and face data detected by said face data detection step to acquire a learned difference value to establish a characteristic space by said learned difference value.
3 more elements
An image discriminating apparatus comprising:
- registered face image storage means having a face image stored therein;
- image inputting means for being fed with a preset image from outside;
- face picture tracking means for tracking a face image fed from said image inputting means based on the color information;
- face detection means for detecting a face using a support vector machine for an estimated face position of said input face image calculated from tracked results by said face image tacking means;
- person identification means for identifying a person by comparing a face detected by said face detection means with a face image stored in said registered face image storage means;
- and
- learning means for using a difference between registered face data previously obtained and face data detected by said face data detection means to acquire a learned difference value to establish a characteristic space by said learned difference value.
4 more elements
An image discriminating method comprising:
- an image inputting step of being fed with a preset image from outside;
- a face image tracking step of tracking a face image fed at said image inputting step based on the color information;
- a face detection step of detecting a face using a support vector machine for an estimated face position of said input face image calculated from the result of tracking at said face image tracking step;
- and
- a person identifying step of identifying a person by comparing a face detected at said face detection step with a face image stored in said registered face image storage step in which the face image is stored;
- and
- a learning step for using a difference between said registered face data and face data detected by said face data detection step to acquire a learned difference value to establish a characteristic space by said learned difference value.
4 more elements
Dependencies are inferred from the claim text.