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Trajectory extraction for automatic face sketching
KTH, School of Computer Science and Communication (CSC).
2013 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Linjeextraktion för automatisk ritning av ansikten (Swedish)
Abstract [en]

This project consists of a series of algorithms employed to obtain a simplistic but

realistic representation of a human face. The final goal is for the sketch to be drawn

onto paper by a robotic arm with a gripper holding a drawing instrument. The

end application is mostly geared towards entertainment and combines the fields of

human-machine interaction, machine learning and image processing.

The first part focuses on manipulating an input digital image in order to obtain

trajectories of a suitable format for the robot to process. Different techniques are

presented, tested and compared, such as edge extraction, landmark detection, spline

generation and principal component analysis. Results showed that an edge detector

yields too many lines, while the generative spline method leads to overly simplistic

faces. The best facial depiction was obtained by combining landmark localization

with edge detection.

The trajectories outputted by the different techniques are passed to the arm

through the high level interface provided by ROS, the Robot Operating System and

then drawn on paper.

Abstract [sv]

Detta projekt består av en serie av algoritmer som används för att erhålla en förenklad

men realistisk återgivning av ett mänskligt ansikte. Det slutgiltiga målet är

att skissen ska ritas på papper av en robotarm med en gripare som håller ett ritinstrument.

Tillämpningen är nöjesorienterad och kombinerar områdena människamaskin-

interaktion, maskininlärning och bildbehandling.

Den första delen fokuserar på att manipulera en mottagen digital bild så att

banor i ett format lämpligt för roboten erhålls. Olika tekniker presenteras, testas

och jämförs såsom kantdetektion, igenkänning av landmärke, spline-generering och

principalkomponentanalys. Resultaten visade att en kantdetektor ger alltför många

linjer och att spline-genererings-metoden leder till alltför förenklade ansikten. Den

bästa ansiktsskildringen erhölls genom att kombinera lokalisering av landmärke med

kantdetektering.

De banor som erhållits genom de olika teknikerna överförs till armen genom ett

högnivågränssnitt till ROS, Robot Operating System och sedan ritas på papper.

Place, publisher, year, edition, pages
2013.
National Category
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-142429OAI: oai:DiVA.org:kth-142429DiVA: diva2:700505
Educational program
Master of Science in Engineering - Computer Science and Technology
Supervisors
Examiners
Available from: 2014-03-11 Created: 2014-03-04 Last updated: 2014-03-11Bibliographically approved

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Citation style
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