Rapid Human Finding with Motion Segmentation for Mobile Robot

Abstract

A computer vision method is presented for the mobile robot to find humans in scene. Face detection is used for confirming humans. In order to reduce regions of search, optical flow algorithm is used to segment the image in advance. Asymmetric problems in face detection are explained, and relative solutions are put forward by bootstrapping strategy and asymmetric adaboost algorithm. In addition, fisher discriminant analysis further improves the performance of face detection. Multi-view face models are trained to accommodate practical face detection application. At last, experiments demonstrate that our multi-view face detector achieves high detection accuracy and fast detection speed on both standard testing datasets and real-life images.