Attention-system-vision

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Demo of face tracking with iCub

 The goal of this group is to track the face of the person in front of the iCub. This module is already implemented by Ugo. Here is a summary of the steps needed to run this demo.

Goals

 Ideally, we would like to detect (and not directly track) several faces, so that a specific saliency map can be created and inserted in the visual attention system.

Using openCV to detect faces (or eyes) :

 It seems to be possible to detect multiple faces in an image with openCV, using haar transforms, as explained here :
 http://www.scribd.com/doc/4547752/opencv-objectdetection-2007june10
 http://www.cognotics.com/opencv/servo_2007_series/part_2/sidebar.html
 
 There seems to be some example code there :
 http://robotworkshop-kumotek.blogspot.it/2011/04/programming-opencv22-face-detection.html
 If not using CV_HAAR_FIND_BIGGEST_OBJECT", multiple results (faces) might be returned.
 
 Eyes might possibly be detected too :
 http://python.dzone.com/articles/face-and-eyes-detection-opencv