Abstract. Recently Viola et al. have introduced a rapid object detection scheme based on a boosted cascade of simple feature classifiers. In this paper we introduce and empirically analysis two extensions to their approach: Firstly, a novel set of rotated haar-like features is introduced. These novel features significantly enrich the simple features of [6] and can also be calculated efficiently. With these new rotated features our sample face detector shows off on average a 10 % lower false alarm rate at a given hit rate. Secondly, we present a through analysis of different boosting algorithms (namely Discrete, Real and Gentle Adaboost) and weak classifiers on the detection performance and computational complexity. We will see that Gentle Adaboost with small CART trees as base classifiers outperform Discrete Adaboost and stumps. The complete object detection training and detection system as well as a trained face detector are available in the Open Computer Vision Library at sourceforge.net [8]. 1

A novel learning procedure, called FloatBoost, is proposed for learning a boosted classifier for achieving the minimum error rate. FloatBoost learning uses a backtrack mechanism after each iteration of AdaBoost learning to minimize the error rate directly, rather than minimizing an exponential function of the margin as in the traditional AdaBoost algorithms. A second contribution of the paper is a novel statistical model for learning best weak classifiers using a stagewise approximation of the posterior probability. These novel techniques lead to a classifier which requires fewer weak classifiers than AdaBoost yet achieves lower error rates in both training and testing, as demonstrated by extensive experiments. Applied to face detection, the FloatBoost learning method, together with a proposed detector pyramid architecture, leads to the first real-time multiview face detection system reported.

Abstract—Rotation invariant multiview face detection (MVFD) aims to detect faces with arbitrary rotation-in-plane (RIP) and rotationoff-plane (ROP) angles in still images or video sequences. MVFD is crucial as the first step in automatic face processing for general applications since face images are seldom upright and frontal unless they are taken cooperatively. In this paper, we propose a series of innovative methods to construct a high-performance rotation invariant multiview face detector, including the Width-First-Search (WFS) tree detector structure, the Vector Boosting algorithm for learning vector-output strong classifiers, the domain-partition-based weak learning method, the sparse feature in granular space, and the heuristic search for sparse feature selection. As a result of that, our multiview face detector achieves low computational complexity, broad detection scope, and high detection accuracy on both standard testing sets and real-life images. Index Terms—Pattern classification, AdaBoost, vector boosting, granular feature, rotation invariant, face detection. Ç 1

Face recognition is a rapidly growing research area due to increasing demands for security in commercial and law enforcement applications. This paper provides an up-to-date review of research efforts in face recognition techniques based on two-dimensional (2D) images in the visual and infrared (IR) spectra. Face recognition systems based on visual images have reached a significant level of maturity with some practical success. However, the performance of visual face recognition may degrade under poor illumination conditions or for subjects of various skin colors. IR imagery represents a viable alternative to visible imaging in the search for a robust and practical identification system. While visual face recognition systems perform relatively reliably under controlled illumination conditions, thermal IR face recognition systems are advantageous when there is no control over illumination or for detecting disguised faces. Face recognition using 3D images is another active area of face recognition, which provides robust face recognition with changes in pose. Recent research has also demonstrated that the fusion of different imaging modalities and spectral components can improve the overall performance of face recognition.

Pedestrian detection is a rapidly evolving area in computer vision with key applications in intelligent vehicles, surveillance and advanced robotics. The objective of this paper is to provide an overview of the current state of the art from both methodological and experimental perspective. The first part of the paper consists of a survey. We cover the main components of a pedestrian detection system and the underlying models. The second (and larger) part of the paper contains a corresponding experimental study. We consider a diverse set of state-of-the-art systems: wavelet-based AdaBoost cascade [74], HOG/linSVM [11], NN/LRF [75] and combined shape-texture detection [23]. Experiments are performed on an extensive dataset captured on-board a vehicle driving through urban environment. The dataset includes many thousands of training samples as well as a 27 minute test sequence involving more than 20000 images with annotated pedestrian locations. We consider a generic evaluation setting and one specific to pedestrian detection on-board a vehicle. Results indicate a clear advantage of HOG/linSVM at higher image resolutions and lower processing speeds, and a superiority of the wavelet-based AdaBoost cascade approach at lower image resolutions and (near) real-time processing speeds. The dataset (8.5GB) is made public for benchmarking purposes.

In visual surveillance face detection can be an important cue for initializing tracking algorithms. Recent work in psychophics hints at the importance of the local context of a face for robust detection, such as head contours and torso. This paper describes a detector that actively utilizes the idea of local context. The promise is to gain robustness that goes beyond the capabilities of traditional face detection making it particularly interesting for surveillance. The performance of the proposed detector in terms of accuracy and speed is evaluated on data sets from PETS 2000 and PETS 2003 and compared to the object-centered approach. Particular attention is paid to the role of available image resolution.

This paper presents a novel tree classifier for complex object detection tasks together with a general framework for real-time object tracking in videos using the novel tree classifier. A boosted training algorithm with a clustering-and-splitting step is employed to construct branches in the nodes recursively, if and only if it improves the discriminative power compared to a single monolithic node classifier and has a lower computational complexity. A mouth tracking system that integrates the tree classifier under the proposed framework is built and tested on XM2FDB database. Experimental results show that the detection accuracy is equal or better than a single or multiple cascade classifier, while being computational less demanding. 1.

Abstract — Recognizing driver awareness is an important prerequisite for the design of advanced automotive safety systems. Since visual attention is constrained to a driver’s field of view, knowing where a driver is looking provides useful cues about his activity and awareness of the environment. This work presents an identity- and lighting-invariant system to estimate a driver’s head pose. The system is fully autonomous and operates online in daytime and nighttime driving conditions, using a monocular video camera sensitive to visible and near-infrared light. We investigate the limitations of alternative systems when operated in a moving vehicle and compare our approach, which integrates Localized Gradient Orientation histograms with support vector machines for regression. We estimate the orientation of the driver’s head in two degrees-of-freedom and evaluate the accuracy of our method in a vehicular testbed equipped with a cinematic motion capture system. I.

Abstract—Common benchmark data sets, standardized performance metrics, and baseline algorithms have demonstrated considerable impact on research and development in a variety of application domains. These resources provide both consumers and developers of technology with a common framework to objectively compare the performance of different algorithms and algorithmic improvements. In this paper, we present such a framework for evaluating object detection and tracking in video: specifically for face, text, and vehicle objects. This framework includes the source video data, ground-truth annotations (along with guidelines for annotation), performance metrics, evaluation protocols, and tools including scoring software and baseline algorithms. For each detection and tracking task and supported domain, we developed a 50-clip training set and a 50-clip test set. Each data clip is approximately 2.5 minutes long and has been completely spatially/temporally annotated at the I-frame level. Each task/domain, therefore, has an associated annotated corpus of approximately 450,000 frames. The scope of such annotation is unprecedented and was designed to begin to support the necessary quantities of data for robust machine learning approaches, as well as a statistically significant comparison of the performance of algorithms. The goal of this work was to systematically address the challenges of object detection and tracking through a common evaluation framework that permits a meaningful objective comparison of techniques, provides the research community with sufficient data for the exploration of automatic modeling techniques, encourages the incorporation of objective evaluation into the development process, and contributes useful lasting resources of a scale and magnitude that will prove to be extremely useful to the computer vision research community for years to come.

This paper describes a machine learning approach for visual object detection and recognition which is capable of processing images rapidly and achieving high detection and recognition rates. This framework is demonstrated on, and in part motivated by, the task of human-robot interaction. There are three main parts on this framework. The first is the person's face detection used as a preprocessing system to the second stage which is the recognition of the face of the person interacting with the robot, and the third one is the hand detection. The detection technique is based on Haar-like features introduced by Viola et al. [1] and then improved by Lienhart et al. [2]. The eigenimages and PCA [3] are used in the recognition stage of the system. Used in real-time human-robot interaction applications the system is able to detect and recognise faces at almost 3 frames per second in a conventional 450MHz Intel Pentium II.