Robotic Facial Expression Using a Curved Surface Display

2006 ◽  
Vol 18 (4) ◽  
pp. 504-510 ◽  
Author(s):  
Minoru Hashimoto ◽  
◽  
Daisuke Morooka ◽  
Keyword(s):  
Facial Expression ◽  
Light Source ◽  
Surface Display ◽  
Three Dimensional ◽  
Curved Surface ◽  
Eye Lens ◽  
Plane Image ◽  
Face Robot ◽  
The Face ◽  
Fish Eye

We propose robotic facial expression using a curved surface display. An image of the robot’s face is displayed on a curved screen to form a facial expression easily compared to other mechanical facial expression. The curved surface gives the face a three-dimensional effect due to not possible using a plane image. The curved surface display consists of a domed screen, a fish-eye lens, and a projector. The face robot has a neck to move the head. We detail the domed display, compensation for image distortion, and the drawing of shadow images indicating the direction of a light source. The facial expression is animated and the head moves using the neck conducted. Experiments confirmed the effectiveness of our proposal.

Face aftereffect in haptic perception

2012 ◽  
Vol 25 (0) ◽  
pp. 46-47
Author(s):  
Kazumichi Matsumiya
Keyword(s):  
Facial Expression ◽  
Facial Expressions ◽  
Haptic Perception ◽  
Three Dimensional ◽  
Eyes Closed ◽  
Neutral Face ◽  
Visual Phenomenon ◽  
The Face ◽  
The Right ◽  
Graphics Software

Adaptation to a face belonging to a facial category, such as expression, causes a subsequently neutral face to be perceived as belonging to an opposite facial category. This is referred to as the face aftereffect (FAE) (Leopold et al., 2001; Rhodes et al., 2004; Webster et al., 2004). The FAE is generally thought of as being a visual phenomenon. However, recent studies have shown that humans can haptically recognize a face (Kilgour and Lederman, 2002; Lederman et al., 2007). Here, I investigated whether FAEs could occur in haptic perception of faces. Three types of facial expressions (happy, sad and neutral) were generated using a computer-graphics software, and three-dimensional masks of these faces were made from epoxy-cured resin for use in the experiments. An adaptation facemask was positioned on the left side of a table in front of the participant, and a test facemask was placed on the right. During adaptation, participants haptically explored the adaptation facemask with their eyes closed for 20 s, after which they haptically explored the test facemask for 5 s. Participants were then requested to classify the test facemask as either happy or sad. The experiment was performed under two adaptation conditions: (1) with adaptation to a happy facemask and (2) with adaptation to a sad facemask. In both cases, the expression of the test facemask was neutral. The results indicate that adaptation to a haptic face that belongs to a specific facial expression causes a subsequently touched neutral face to be perceived as having the opposite facial expression, suggesting that FAEs can be observed in haptic perception of faces.

3D Measurement Using a Fish-Eye Camera Based on EPI Analysis

2012 ◽  
Vol 24 (4) ◽  
pp. 677-685
Author(s):  
Kenji Terabayashi ◽  
◽  
Toru Morita ◽  
Hiroya Okamoto ◽  
Kazunori Umeda ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Three Dimensional ◽  
3D Measurement ◽  
Feature Points ◽  
3D Environment ◽  
Wide Range ◽  
Plane Image ◽  
3D Environments ◽  
Car Driving ◽  
Fish Eye

In car driving support systems and mobile robots, it is important to understand three-dimensional environment widely at once. In this paper, we use a fish-eye camera as a sensor to measure three-dimensional (3D) environments. This camera can take a wide-range and distortional image and can be easily mounted on cars. We propose a method for reconstructing 3D environment using fish-eye images based on Epipolar-Plane Image (EPI) analysis. This method enables easy and stable matching of feature points. The effectiveness of the proposed method is verified by experiments.

scholarly journals Stereoscopic facial imaging for pain assessment using rotational offset microlens arrays based structured illumination

2021 ◽  
Vol 9 (1) ◽  
Author(s):  
Jae-Myeong Kwon ◽  
Sung-Pyo Yang ◽  
Ki-Hun Jeong
Keyword(s):  
Facial Expression ◽  
Pain Assessment ◽  
Three Dimensional ◽  
Dimensional Change ◽  
Assessment Method ◽  
Structured Illumination ◽  
Microlens Arrays ◽  
3D Data ◽  
The Face ◽  
Face Reading

AbstractConventional pain assessment methods such as patients’ self-reporting restrict the possibility of easy pain monitoring while pain serves as an important role in clinical practice. Here we report a pain assessment method via 3D face reading camera assisted by dot pattern illumination. The face reading camera module (FRCM) consists of a stereo camera and a dot projector, which allow the quantitative measurement of facial expression changes without human subjective judgement. The rotational offset microlens arrays (roMLAs) in the dot projector form a uniform dense dot pattern on a human face. The dot projection facilitates evaluating three-dimensional change of facial expression by improving 3D reconstruction results of non-textured facial surfaces. In addition, the FRCM provides consistent pain rating from 3D data, regardless of head movement. This pain assessment method can provide a new guideline for precise, real-time, and continuous pain monitoring.

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