AN EMOTION ANALYSIS ALGORITHM AND IMPLEMENTATION TO NAO HUMANOID ROBOT

Yıl 2017, Sayı: 1, 316 - 330, 09.11.2017

Onder Tutsoy Fatma Gongor Duygun Erol Barkana Hatice Kose

Öz

Humanoid robots are extensively becoming an essential part of the social
life.  It is crucial for humanoid robots
to understand the emotions of the people for efficient human-robot interaction.
Even though a great number of facial emotion analysis algorithms have been
developed and a number of them have been implemented to humanoid robots, there
are still gaps in improving accuracy, computational burden and speed of these
algorithms.  This paper proposes a
4-stage emotion analysis algorithm and then presents its application to NAO
humanoid robot. Initially, the robot detects the face using Viola-Jones
algorithm. Later, important facial distance measurements are taken with
geometric based facial distance measurement technique. Then, facial action
coding system technique is used to detect movements of the measured facial
points. Finally, measured facial movements are evaluated to understand instant
emotional properties of the person. Although this algorithm can be implemented
to all humanoid robots, in this research, it has been specifically applied to
NAO humanoid robot. The reliability of the emotion analysis is verified by
analyzing each terminal decision made based on the facial distance
measurements. In addition, the accuracy,
computational burden and speed of the algorithm are assessed to show the
effectiveness of the algorithm. 

Anahtar Kelimeler

Emotion analysis, facial action coding system, geometric based facial distance measurement technique, facial expression, Viola-Jones algorithm

Kaynakça

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