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Publié par | Thesee |
Nombre de lectures | 123 |
Langue | English |
Poids de l'ouvrage | 26 Mo |
Extrait
THESE
pour obtenir le grade de
DOCTEUR DE L’ECOLE CENTRALE DE LYON
Spécialité : Informatique
présentée et soutenue publiquement par
XI ZHAO
le 13 septembre 2010
3D Face Analysis:
Landmarking, Expression Recognition and beyond
Ecole Doctorale InfoMaths
Directeur de thèse : Liming CHEN
Co-directeur de thèse : Emmanuel DELLANDRÉA
JURY
Prof. Bulent Sankur Université Bogazici Rapporteur
Prof. Maurice Milgram Université UMPC Rapporteur
Prof. Alice Caplier Université INP Examinateur
Prof. Dimitris Samaras Université Stony Brook Examinateur
Prof. Mohamed Daoudi Université Telecom Lille Exam
Prof. Liming Chen Ecole Centrale de Lyon Directeur de thèse
Dr. Emmanuel Dellandréa Ecole Centrale de Lyon Co-directeur de thèse
Numéro d’ordre : 2010-21Acknowledgment
I wish to express my deep and sincere gratitude to my supervisor, Prof. Liming
Chen. His wide knowledge and his serious attitude towards research have been of
great value both for my Ph.D study and for my future academic career. At the same
time, his understanding, encouragement and care also give me emotional support
throughout my three-year Ph.D life.
I am deeply grateful to my supervisor, Dr. Emmanuel Dellandréa, for his con-
structive and detailed supervision during my PhD study, and for his important help
throughout this thesis. His logical way of thinking and carefulness on the research
have affected me to a large extent.
I wish to express my warm and sincere appreciation to Prof. Bulent Sankur,
University of Bogzici, and Prof. Maurice Milgram, University of UMPC, for their
detailed, valuable and constructive comments, which help to improve the quality of
this work greatly.
I warmly thank Mohsen Ardabilian, Christian Vial, Colette Vial, and Isabelle
Dominique for their support in all aspects of my lab life.
I owe my gratitude to Kun Peng, Xiao Zhongzhe, Aliaksandr Paradzinets, Alain
Pujol, Yan Liu, Huanzhang Fu, Chu Duc Nguyen, Karima Ouji, Przemyslaw Szep-
tycki, Kiryl Bletsko, Gang Niu, Xiaopin Zhong, Jing Zhang, Ying Hu, Di Huang,
Chao Zhu, Huibin Li, Yu Zhang, Boyang Gao, Ningning Liu and Tao Xu. The
valuable discussions and communications with them not only help me to solve dif-
ficulties both in academic and personal aspects, but also make my life so pleasant
and happy in these three years.
I owe my loving thankfulness to my parents Jinsheng Zhao and Yaxian Dang,
and my wife Zhenmei Zhu. Without their encouragement and understanding it
would have been impossible for me to finish my PhD study.
I give my sincere appreciation to the China Scholarship Council for the financial
support.
Ecully, France, Sep. 2010
Xi ZHAOContents
Acknowledgment i
Resumé xiii
Abstract xv
1 Introduction 1
1.1 Research topic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Problems and objective . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Our approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4 Our contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.5 Organization of the thesis . . . . . . . . . . . . . . . . . . . . . . . . 6
2 3D Face Landmarking 9
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Related works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2.1 Face landmarking in 2D . . . . . . . . . . . . . . . . . . . . . 11
2.2.2 Face in 3D . . . . . . . . . . . . . . . . . . . . . 18
2.2.3 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.3 A 2.5D face landmarking method . . . . . . . . . . . . . . . . . . . . 25
2.3.1 Methodology . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.3.2 Experimental results . . . . . . . . . . . . . . . . . . . . . . . 37
2.3.3 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
2.4 A 3D face landmarking method . . . . . . . . . . . . . . . . . . . . . 43
2.4.1 Statistical facial feature model . . . . . . . . . . . . . . . . . 43
2.4.2 Locating landmarks . . . . . . . . . . . . . . . . . . . . . . . 46
2.4.3 Occlusion detection and classification . . . . . . . . . . . . . . 51
2.4.4 Experimentations . . . . . . . . . . . . . . . . . . . . . . . . . 53
2.4.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
2.5 Conclusion on 3D face landmarking . . . . . . . . . . . . . . . . . . . 70
3 3D Facial Expression Recognition 73
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
3.2 The Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
3.2.1 Theories of emotion . . . . . . . . . . . . . . . . . . . . . . . 75
3.2.2 Facial expression properties . . . . . . . . . . . . . . . . . . . 76
3.2.3 Facial interpretation . . . . . . . . . . . . . . . . . 78
3.3 Related works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
3.3.1 Facial expression recognition: 2D vs 3D . . . . . . . . . . . . 79
3.3.2 Facial static vs dynamic . . . . . . . . 81
3.3.3 3D facial expression recognition . . . . . . . . . . . . . . . . . 82
3.3.4 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87Contents
3.4 3D Facial expression recognition based on a local geometry-based
feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
3.4.1 Brief introduction of popular 3D surface feature . . . . . . . . 89
3.4.2 SGAND: a new Surface Geometry feAture from poiNt clouD 91
3.4.3 Pose estimation of 3D faces . . . . . . . . . . . . . . . . . . . 95
3.4.4 3D expression description and classification based on SGAND 98
3.4.5 Experimental results . . . . . . . . . . . . . . . . . . . . . . . 101
3.4.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
3.5 3D expression and Action Unit recognition based on a Bayesian Belief
Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
3.5.1 A bayesian belief network for 3D facial expression recognition 110
3.5.2 Characterization of facial deformations . . . . . . . . . . . . . 115
3.5.3 Fully automatic expression recognition system . . . . . . . . . 121
3.5.4 Experimental results . . . . . . . . . . . . . . . . . . . . . . . 123
3.5.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
3.6 Conclusion on 3D expression and Action Unit recognition . . . . . . 131
4 A minor contribution: People Counting based on Face Tracking 137
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
4.1.1 Related work . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
4.1.2 Our approach . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
4.2 System framework . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
4.3 Face tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
4.3.1 Scale invariant Kalman filter . . . . . . . . . . . . . . . . . . 141
4.3.2 Face representation and tracking . . . . . . . . . . . . . . . . 143
4.4 Trajectory analysis and people counting . . . . . . . . . . . . . . . . 145
4.5 Experimental results . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
4.5.1 Scale invariant Kalman filter implementation . . . . . . . . . 146
4.5.2 Face tracking performance . . . . . . . . . . . . . . . . . . . . 148
4.5.3 Trajectory analysis and people counting . . . . . . . . . . . . 149
4.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
5 Conclusion and Future Works 153
5.1 Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
5.1.1 Landmarking on 3D faces . . . . . . . . . . . . . . . . . . . . 153
5.1.2 3D facial expression recognition . . . . . . . . . . . . . . . . . 154
5.1.3 People counting based on face tracking . . . . . . . . . . . . . 155
5.2 Perspectives for future work . . . . . . . . . . . . . . . . . . . . . . . 156
5.2.1 Further investigations on 3D landmarking . . . . . . . . . . . 156
5.2.2 Further investig on 3D facial expression recognition . . 157
6 Appendix: FACS and used Action Units 159
6.1 AU Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
6.2 Translating AU Scores Into Emotion Terms . . . . . . . . . . . . . . 164
Publications 165
ivContents
Bibliography 167
vList of Tables
2.1 Mean and deviation of locating errors for all landmarks using FRGC
v1.0 (mm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2.2 Mean and deviation of locating errors for all landmarks using FRGC
v2.0 (mm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
2.3 Mean and deviation of locating errors for individual manually labeled
landmarks(mm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
2.4 Confusion Matrix of occlusion classification . . . . . . . . . . . . . . 55
2.5 Mean error and standard deviation (mm) associated with each of the
15 landmarks on the FRGC dataset . . . . . . . . . . . . . . . . . . . 60
2.6 Mean error and the corresponding standard deviation (mm) of the
19 automatically located landmarks on the face scans, all expressions
included, from the BU-3DFE dataset . . . . . . . . . . . . . . . . . . 62
2.7 Mean error and the corresponding standard deviation (mm) associ-
a