Biblio

To meet the high requirement of human-machine interaction, quadruped robots with human recognition and tracking capability are studied in this paper. We first introduce a marker recognition system which uses multi-thread laser scanner and retro-reflective markers to distinguish the robot's leader and other objects. When the robot follows leader autonomously, the variant A* algorithm which having obstacle grids extended virtually (EA*) is used to plan the path. But if robots need to track and follow the leader's path as closely as possible, it will trust that the path which leader have traveled is safe enough and uses the incremental form of EA* algorithm (IEA*) to reproduce the trajectory. The simulation and experiment results illustrate the feasibility and effectiveness of the proposed algorithms.

Facial emotion recognition is an essential aspect in human-machine interaction. In the real-world conditions, it faces many challenges, i.e., illumination changes, large pose variations and partial or full occlusions, which cause different facial areas with different sharpness and completeness. Inspired by this fact, we focus on facial expression recognition based on partial faces in this paper. We compare contribution of seven facial areas of low-resolution images, including nose areas, mouse areas, eyes areas, nose to mouse areas, nose to eyes areas, mouth to eyes areas and the whole face areas. Through analysis on the confusion matrix and the class activation map, we find that mouth regions contain much emotional information compared with nose areas and eyes areas. In the meantime, considering larger facial areas is helpful to judge the expression more precisely. To sum up, contributions of this paper are two-fold: (1) We reveal concerned areas of human in emotion recognition. (2) We quantify the contribution of different facial parts.