This paper presents a novel design of face tracking algorithm and visual state estimation for a mobile robot face tracking interaction control system. The advantage of this design is that it can track a user's face under several external uncertainties and estimate the system state without the knowledge about target's 3D motion-model information. This feature is helpful for the development of a real-time visual tracking control system. In order to overcome the change in skin color due to light variation, a real-time face tracking algorithm is proposed based on an adaptive skin color search method. Moreover, in order to increase the robustness against colored observation noise, a new visual state estimator is designed by combining a Kalman filter with an echo state network-based self-tuning algorithm. The performance of this estimator design has been evaluated using computer simulation. Several experiments on a mobile robot validate the proposed control system.
A novel heterogeneity-projection hard-decision adaptive interpolation (HPHD-AI) algorithm is proposed in this paper for color reproduction from Bayer mosaic images. The proposed algorithm aims to estimate the optimal interpolation direction and perform hard-decision interpolation, in which the decision is made before interpolation. To do so, a new heterogeneity-projection scheme based on spectral-spatial correlation is proposed to decide the best interpolation direction from the original mosaic image directly. Exploiting the proposed heterogeneity-projection scheme, a hard-decision rule can be designed easily to perform the interpolation. We have compared this technique with three recently proposed demosaicing techniques: Lu's, Gunturk's and Li's methods, by utilizing twenty-five natural images from Kodak PhotoCD. The experimental results show that HPHD-AI outperforms all of them in both PSNR values and S-CIELab * ab E ∆ measures. Downloaded From: http://proceedings.spiedigitallibrary.org/ on 04/26/2014 Terms of Use: http://spiedl.org/terms SPIE-IS&T/ Vol. 6069 606906-2 Downloaded From: http://proceedings.spiedigitallibrary.org/ on 04/26/2014 Terms of Use: http://spiedl.org/terms * ab E ∆ measures, but also gives superior demosaiced fidelities in visual comparison with other methods. SPIE-IS&T/ Vol. 6069 606906-7 Downloaded From: http://proceedings.spiedigitallibrary.org/ on 04/26/2014 Terms of Use: http://spiedl.org/terms
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