A face attention technique for a robot able to interpret facial expressions

Carlos Simplício, José Prado, Jorge Dias

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review


Automatic facial expressions recognition using vision is an important subject towards human-robot interaction. Here is proposed a human face focus of attention technique and a facial expressions classifier (a Dynamic Bayesian Network) to incorporate in an autonomous mobile agent whose hardware is composed by a robotic platform and a robotic head. The focus of attention technique is based on the symmetry presented by human faces. By using the output of this module the autonomous agent keeps always targeting the human face frontally. In order to accomplish this, the robot platform performs an arc centered at the human; thus the robotic head, when necessary, moves synchronized. In the proposed probabilistic classifier the information is propagated, from the previous instant, in a lower level of the network, to the current instant. Moreover, to recognize facial expressions are used not only positive evidences but also negative.

Original languageBritish English
Title of host publicationEmerging Trends in Technological Innovation
Subtitle of host publicationFirst IFIP WG 5.5/SOCOLNET Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2010, Costa de Caparica, Portugal, February 22-24, 2
EditorsLuis M. Camarinha-Matos, Pedro Pereira, Luis Ribeiro
Number of pages8
StatePublished - 2010

Publication series

NameIFIP Advances in Information and Communication Technology
ISSN (Print)1868-4238


  • Dynamic Bayesian Network
  • Facial Symmetry
  • Focus of Attention


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