Camera active pose cooperation for obtaining face frontal images

doi:10.3785/j.issn.1008-973X.2020.10.010

Journal of ZheJiang University (Engineering Science)

2020, Vol. 54

Issue (10): 1936-1944 DOI: 10.3785/j.issn.1008-973X.2020.10.010

Camera active pose cooperation for obtaining face frontal images

Wen-tao WANG(

),Jia-tian LI*(

),Hua-jing WU,Peng GAO,Xiao-hui A,Zhi-hao ZHU

Faculty of Land Resources Engineering, Kunming University of Science and Technology, Kunming 650093, China

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Abstract

A face-to-camera active pose cooperation method was proposed in order to reduce the impact of face rotation in object space by actively adjusting the position and attitude of the camera. Environment of pose cooperation was constructed by using an industrial camera and a synchronous belt-like motion controller. The angle of a moving face pose and the relative position between the camera and the face were solved by a single image space resection. The mapping relationship between the coordinate systems of the face, the camera and the motion controller was calculated. The camera motion was controlled by the camera's coordinated pose control calculated from the relative position of the camera and the face attitude angle at the adjacent sampling time, and the face frontal image was acquired actively and real-time. The experimental results showed that the camera point position error on the motion axis was less than 10 mm, and the extracted frontal image improved the accuracy and robustness of face correction.

Key words： correction of face images face frontal images photogrammetry face pose angle pose cooperation motion controller

Received: 28 August 2019 Published: 28 October 2020

CLC:

TP 302

Corresponding Authors: Jia-tian LI E-mail: 413274795@qq.com;ljtwcx@163.com

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	Wen-tao WANG
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	Peng GAO
	Xiao-hui A
	Zhi-hao ZHU

Cite this article:

Wen-tao WANG,Jia-tian LI,Hua-jing WU,Peng GAO,Xiao-hui A,Zhi-hao ZHU. Camera active pose cooperation for obtaining face frontal images. Journal of ZheJiang University (Engineering Science), 2020, 54(10): 1936-1944.

URL:

http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2020.10.010 OR http://www.zjujournals.com/eng/Y2020/V54/I10/1936

摄像机主动位姿协同的人脸正视图像获取方法

为了主动调整摄像机的位置姿态以在物方空间降低由人脸旋转带来的影响，提出人脸-摄像机主动位姿协同方法. 利用工业摄像机与同步带类运动控制器搭建位姿协同环境，根据单像空间后方交会方法求解运动人脸姿态角和相对位置，计算人脸、摄像机和运动控制器各坐标系之间的映射关系，摄像机运动由相邻采样时刻摄像机相对位置和人脸姿态角计算得出的摄像机协同位姿控制，主动、实时地获取人脸正视图像. 实验表明，运动轴上的摄像机点位误差小于10 mm，取得的人脸正视图像提高了人脸纠正的精准度与鲁棒性.

关键词： 人脸纠正, 人脸正视图像, 摄影测量, 人脸姿态角, 位姿协同, 运动控制器

Fig.1 Conversion diagram for world coordinate system to camera coordinate system

Fig.2 Camera motion controller

Fig.3 Position diagram of each coordinate system at initial sampling time

Fig.4 Schematic diagram of relationship between face and camera position

Tab.1 Three-dimensional coordinates of feature points of standard face model

Tab.2 Face pose at different sampling moments

Tab.3 Relative camera position at different sampling moments

Tab.4 Face pose and relative camera position

Tab.5 Camera position change and stepper motor pulse input

Fig.5 Position error curve of camera on x and y axis

Tab.6 Camera position x-axis error analysis

Fig.6 Analysis of camera y-axis position error at different translation speeds

Fig.7 Analysis of u-axis position error of camera at different angular velocities

Fig.8 Comparative analysis of alignment between face image and face image

Fig.9 Contrast analysis of face image and face-up image at different deflection angles

Fig.10 Contrast analysis of face image and face-up image at different deflection angles


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