Face Detection using 3-D Time-of-Flight and Colour Cameras

Conference: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
06/07/2010 - 06/09/2010 at Munich, Germany

Proceedings: ISR/ROBOTIK 2010

Pages: 5Language: englishTyp: PDF

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Fischer, Jan; Seitz, Daniel; Verl, Alexander (Fraunhofer IPA, Nobelstr. 12, 70597 Stuttgart, Germany)

This paper presents a novel method to apply standard 2-D face detection methods on 3-D data. The procedure uses a sensor setup consisting of a 3-D time-of-flight camera and a colour camera. At first, face detection is performed on the less structured and low-resolution 3-D range image. Only for those areas regarded as faces on the 3-D range image, processing continues on the corresponding high-resolution 2-D colour image areas. This enables a pre-filtering of the visible area prior to the actual face detection step on selected colour regions.