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An effective method for detecting facial features and face in human–robot interaction
Lee, Taigun,Park, Sung-Kee,Park, Mignon Elsevier science 2006 Information sciences Vol.176 No.21
<P><B>Abstract</B></P><P>In this paper, an effective method of facial features detection is proposed for human–robot interaction (HRI). Considering the mobility of mobile robot, it is inevitable that any vision system for a mobile robot is bound to be faced with various imaging conditions such as pose variations, illumination changes, and cluttered backgrounds. To detecting face correctly under such difficult conditions, we focus on the local intensity pattern of the facial features. The characteristics of relatively dark and directionally different pattern can provide robust clues for detecting facial features. Based on this observation, we suggest a new directional template for detecting the major facial features, namely the two eyes and the mouth. By applying this template to a facial image, we can make a new convolved image, which we refer to as the edge-like blob map. One distinctive characteristic of this map image is that it provides the local and directional convolution values for each image pixel, which makes it easier to construct the candidate blobs of the major facial features without the information of facial boundary. Then, these candidates are filtered using the conditions associated with the spatial relationship of the two eyes and the mouth, and the face detection process is completed by applying appearance-based facial templates to the refined facial features. The overall detection results obtained with various color images and gray-level face database images demonstrate the usefulness of the proposed method in HRI applications.</P>
Hoon Lee,Saeyoung Ahn,Changwon Lee,Hongbae Kim,Jein Jeong,Taigun Im 한국물리학회 2004 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.44 No.52
Platinum (Pt) is a biocompatible material which exhibits strong thermal and electrical conductivity due to its high melting point and good durability. Thus, it is used commonly in bio-electrodes and bio-chips. In this study, a tungsten (W) wire was coated with a platinum lm and was analyzed for its mechanical and biocompatibility properties. The platinum lm was deposited by magnetron sputtering with an UnBalanced Magnetic (UBM) eld system. The experiment was performed under a variety of conditions by changing the deposition temperature, the bias voltage, the magnetic eld and the deposition time in order to deduce the optimum conditions. We examined the exfoliation and the sedimentation states of the anode and the cathode by using microscope and an electron probe microanalysis (EPMA) for the electro-chemical corrosion test using the Hank's solution. The lm showed a very low impurity level, and the surface and the cross section of the lm appeared elaborate. No sedimentation appeared in the lm, and the crystallization in the (110), the (200), the (220) and the (222) directions observed. However, at a high current density (800 mA/cm2), sedimentation was observed in the corrosion test.