This paper explores the process of self-guided learning of realistic facial expression production by a robotic head with 31 degrees of freedom. Facial motor parameters were learned using feedback from real-time facial expression recognition from video. The experiments show that the mapping of servos to expressions was learned in under one-hour of training time. We discuss how our work may help illuminate the computational study of how infants learn to make facial expressions.
}, keywords = {Actuators, Emotion recognition, face detection, face recognition, facial motor parameters, Feedback, Humans, learning (artificial intelligence), Machine Learning, Magnetic heads, Pediatrics, real-time facial expression recognition, Robot sensing systems, robotic head, Robots, self-guided learning, Servomechanisms, Servomotors}, isbn = {978-1-4244-4117-4}, author = {Wu, T. and Butko, N. and Ruvulo, P. and Bartlett, M. and Movellan, J.} } @conference {62, title = {A discriminative approach to frame-by-frame head pose tracking}, booktitle = {8th IEEE International Conference on Automatic Face Gesture Recognition, 2008. FG {\textquoteright}08}, year = {2008}, month = {09/2008}, publisher = {IEEE}, organization = {IEEE}, address = {Amsterdam}, abstract = {We present a discriminative approach to frame-by-frame head pose tracking that is robust to a wide range of illuminations and facial appearances and that is inherently immune to accuracy drift. Most previous research on head pose tracking has been validated on test datasets spanning only a small (\< 20) subjects under controlled illumination conditions on continuous video sequences. In contrast, the system presented in this paper was both trained and tested on a much larger database, GENKI, spanning tens of thousands of different subjects, illuminations, and geographical locations from images on the Web. Our pose estimator achieves accuracy of 5.82deg, 5.65deg, and 2.96deg root-mean-square (RMS) error for yaw, pitch, and roll, respectively. A set of 4000 images from this dataset, labeled for pose, was collected and released for use by the research community.
}, keywords = {accuracy drift, continuous video sequence, controlled illumination condition, discriminative approach, face detection, face recognition, facial appearance, frame-by-frame head pose tracking, Humans, Image analysis, Image databases, Laboratories, Lighting, Magnetic heads, mean square error methods, pose estimation, Robustness, root-mean-square error tracking, System testing, Video sequences}, isbn = {978-1-4244-2153-4}, author = {Whitehill, J. and Movellan, Javier R.} }