An eye detection and localization system for natural human and robot interaction without face detection

Authors:
Xinguo Yu;Weicheng Han;Liyuan Li;Ji Yu Shi;Gang Wang
Affiliations:
Institute for Infocomm Research, Connexis, Singapore;Department of Electrical and Computer Engineering, National University of Singapore, Singapore;Institute for Infocomm Research, Connexis, Singapore;Institute for Infocomm Research, Connexis, Singapore;Institute for Infocomm Research, Connexis, Singapore
Venue:
TAROS'11 Proceedings of the 12th Annual conference on Towards autonomous robotic systems
Year:
2011

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Abstract

There were many eye localization algorithms depending on face detection in the literature. Differently this paper presents a novel eye detection and localization system not depending on face detection for natural human and robot interaction using both stereo and visual cameras. To build a robust system we use stereo and visual cameras in synergy. The stereo camera is used to localize the head of the person to replace face detection. Then our eye identification algorithm detects and localizes two eyes inside head box. In eye detection step, our algorithm uses a HOG-moment (Histogram Of Gradient) feature to detect two eyes inside the head box. In eye localization step, we employ an iterative procedure to search the best location for eye pair. The experimental results show that the proposed eye detection and localization algorithm, not depending on face detection, has a similar robustness as the existing eye localization algorithms.