Real-time face tracking in a digital image acquisition device

• US 7,315,631 B1
• Filed: 08/11/2006
• Issued: 01/01/2008
• Est. Priority Date: 08/11/2006
• Status: Active Grant

• Current Assignee: FotoNation Limited (Adeia Inc.)
• Original Assignee: FotoNation Vision Limited (Adeia Inc.)
• Inventors: Steinberg, Eran, Petrescu, Stefan, Nanu, Florin, Drimbarean, Alexandru, Corcoran, Peter, Pososin, Alexei, Biglol, Petronel
• Primary Examiner(s): Alavi; Amir
• Application Number:
  US11/464,083
• Time in Patent Office: 508 Days
• Field of Search: 382/103, 382/115, 382/118, 382/173, 382/190, 382/254, 382/305, 382/284, 382/298, 382/299
• US Class Current: 382/118
• CPC Class Codes: G06F 18/2148 characterised by the process organisation or structure, e.g. boosting cascade
• CPC Class Codes: G06V 30/19147 Obtaining sets of training patterns; Bootstrap methods, e.g. bagging or boosting
• CPC Class Codes: G06V 30/2504 Coarse or fine approaches, e.g. resolution of ambiguities or multiscale approaches
• CPC Class Codes: G06V 40/162 using pixel segmentation or colour matching
• CPC Class Codes: G06V 40/165 using facial parts and geometric relationships
• CPC Class Codes: G06V 40/167 using comparisons between temporally consecutive images
• CPC Class Codes: G06V 40/171 Local features and components; Facial parts eye characteristics G06V40/18; Occluding parts, e.g. glasses; Geometrical relationships
• CPC Class Codes: H04N 1/2112 using still video cameras
• CPC Class Codes: H04N 1/32112 in a separate computer file, document page or paper sheet, e.g. a fax cover sheet H04N1/32122 takes precedence
• CPC Class Codes: H04N 1/32128 attached to the image data, e.g. file header, transmitted message header, information on the same page or in the same computer file as the image for information embedded in the image H04N1/32144
• CPC Class Codes: H04N 2101/00 Still video cameras
• CPC Class Codes: H04N 2201/0084 Digital still camera
• CPC Class Codes: H04N 2201/3205 of identification information, e.g. name or ID code H04N2201/3209 takes precedence
• CPC Class Codes: H04N 23/61 based on recognised objects
• CPC Class Codes: H04N 23/611 where the recognised objects include parts of the human body
• CPC Class Codes: H04N 23/635 Region indicators; Field of view indicators
• CPC Class Codes: H04N 23/695 Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects

Abstract

An image processing apparatus for tracking faces in an image stream iteratively receives an acquired image from the image stream potentially including one or more face regions. The acquired image is sub-sampled at a specified resolution to provide a sub-sampled image. An integral image is then calculated for a least a portion of the sub-sampled image. Fixed size face detection is applied to at least a portion of the integral image to provide a set of candidate face regions. Responsive to the set of candidate face regions produced and any previously detected candidate face regions, the resolution is adjusted for sub-sampling a subsequent acquired image.

Claims

1. A method of tracking faces in an image stream with a digital image acquisition device, comprising:

a. receiving an acquired image from an image stream including one or more face regions;

b. sub-sampling said acquired image at a specified resolution to provide a sub-sampled image;

c. calculating a corresponding integral image for a least a portion of said sub-sampled image;

d. applying a fixed size face detection to at least a portion of said integral image to provide a set of one or more candidate face regions each having a given size and a respective location;

e. responsive at least in part to the given size and respective location of said candidate face regions, adjusting a resolution for sub-sampling a next acquired image; and

f. repeating steps a. to e. at the adjusted resolution, and

g. further comprising merging said set of candidate face regions with any previously detected face regions to provide a set of candidate face regions of potentially different sizes, and

h. further comprising, for each region of said acquired image corresponding to a region of said merged set of candidate face regions;

calculating an integral image; and

applying variable-sized face detection to each merged region integral image to provide a set of confirmed face regions and a set of rejected face regions.

2. A method as claimed in claim 1, further comprising tracking candidate face regions of different sizes from a plurality of images of said image stream.

3. A method as claimed in claim 1, further comprising:

checking any rejected face regions based on alternative criteria from said fixed and variable sized face detection; and

responsive to said checking indicating any of said rejected face regions is a face region, adding said previously rejected face region to said set of confirmed face regions.

4. A method as claimed in claim 3, wherein said checking comprises applying a skin prototype to any rejected face region.

5. A method as claimed in claim 1, wherein said merging comprises merging a set of candidate face regions for an acquired image with said set of confirmed face regions for a previously acquired image.

6. A method as claimed in claim 1, wherein said regions of said acquired image corresponding to a region of said merged set of candidate face regions comprise regions surrounding respective regions of said merged set of candidate face regions.

7. A method as claimed in claim 1, wherein applying variable sized face detection comprises applying a plurality of cascades of Haar classifiers of varying size to each merged region integral image.

8. A method as claimed in claim 7, comprising applying twelve or fewer sizes of cascades of Haar classifiers.

9. The method of claim 7, comprising applying 3 or 4 sizes of Haar classifiers.

10. A method as claimed in claim 9, wherein each cascade comprises 32 classifiers.

11. A method as claimed in claim 1, wherein said repeating steps a. to e. is performed responsive to changes in content from image to image in said image stream.

12. A method as claimed in claim 1, wherein said applying fixed size face detection comprises applying a cascade of Haar classifiers of a fixed size to said integral image.

13. A method as claimed in claim 1, further comprising the step of:

displaying an acquired image; and

superimposing said tracked candidate face regions on said displayed acquired image.

14. A method of tracking faces in an image stream with a digital image acquisition device, comprising:

a. receiving an acquired image from an image stream including one or more face regions;

b. sub-sampling said acquired image at a specified resolution to provide a sub-sampled image;

c. calculating a corresponding integral image for a least a portion of said sub-sampled image;

d. applying a fixed size face detection to at least a portion of said integral image to provide a set of one or more candidate face regions each having a given size and a respective location;

e. responsive at least in part to the given size and respective location of said candidate face regions, adjusting a resolution for sub-sampling a next acquired image; and

f. repeating steps a. to e. at the adjusted resolution,

wherein said adjusting comprises cycling through a set of at least approximately four sub-sampling resolutions.

15. A method as claimed in claim 14, further comprising merging said set of candidate face regions with any previously detected face regions to provide a set of candidate face regions of potentially different sizes.

16. A method as claimed in claim 14, further comprising storing at least one of the size and location of at least some of said set of candidate face regions in association with said main acquired image.

17. A method as claimed in claim 16, further comprising the step of:

performing spatially selective post processing of said main acquired image based on said stored candidate face regions'"'"' size or location.

18. A method as claimed in claim 17, wherein said selective image processing comprises color correction, sharpening, blurring, saturation, subsampling, compression, or a combination thereof.

19. A method of tracking faces in an image stream with a digital image acquisition device, comprising:

a. receiving an acquired image from an image stream including one or more face regions;

b. sub-sampling said acquired image at a specified resolution to provide a sub-sampled image;

c. calculating a corresponding integral image for a least a portion of said sub-sampled image;

d. applying a fixed size face detection to at least a portion of said integral image to provide a set of one or more candidate face regions each having a given size and a respective location;

e. responsive at least in part to the given size and respective location of said candidate face regions, adjusting a resolution for sub-sampling a next acquired image; and

f. repeating steps a. to e. at the adjusted resolution,

wherein said adjusting is responsive to said image being acquired at approximately infinite focus for adjusting said sub-sampling resolution to maximum resolution.

20. A method of tracking faces in an image stream with a digital image acquisition device, comprising:

a. receiving an acquired image from an image stream including one or more face regions;

b. sub-sampling said acquired image at a specified resolution to provide a sub-sampled image;

c. calculating a corresponding integral image for a least a portion of said sub-sampled image;

d. applying a fixed size face detection to at least a portion of said integral image to provide a set of one or more candidate face regions each having a given size and a respective location;

e. responsive at least in part to the given size and respective location of said candidate face regions, adjusting a resolution for sub-sampling a next acquired image; and

f. repeating steps a. to e. at the adjusted resolution,

wherein a. to e. are performed periodically on a selected plurality of images of an image stream, said plurality of images including a main acquired image chronologically following a plurality of images of said selected plurality of images.

21. A method as claimed in claim 20, where the time interval between said selected images is fixed.

22. A method as claimed in claim 21, where the time interval between said selected images is variable and determined during execution.

23. A method as claim in claim 22, wherein said time interval is a function of the time taken to process one or more previous main acquired images.

24. A method as claimed in claim 23, wherein said time interval is dependent on changes in image content for one or more of said selected plurality of images.

25. A method as claimed in claim 23, wherein said cascade comprises at least approximately 32 classifiers.

26. A method of tracking faces in an image stream with a digital image acquisition device, comprising:

a. receiving an acquired image from an image stream including one or more face regions;

b. sub-sampling said acquired image at a specified resolution to provide a sub-sampled image;

c. calculating a corresponding integral image for a least a portion of said sub-sampled image;

d. applying a fixed size face detection to at least a portion of said integral image to provide a set of one or more candidate face regions each having a given size and a respective location;

e. responsive at least in part to the given size and respective location of said candidate face regions adjusting a resolution for sub-sampling a next acquired image; and

f. repeating steps a. to e. at the adjusted resolution, and

g. further comprising responsive to said acquired image being captured with a flash, analyzing regions of said acquired image corresponding to said tracked candidate face regions for red-eye defects.

27. A method as claimed in claim 26, further comprising correcting in said acquired image any red-eye defects.

28. A method as claimed in claim 26, further comprising storing with said acquired image an indication of any red-eye defects.

29. An image processing apparatus for tracking faces in an image stream comprising one or more processors and one or more digital storage media having digitally-encoded instructions embedded therein for programming the one or more processors to perform an iterative method of tracking faces in an image stream, the method comprising:

a. receiving an acquired image from said image stream including one or more face regions;

b. sub-sampling the acquired image at a specified resolution to provide a sub-sampled image;

c. calculating a corresponding integral image for a least a portion of said sub-sampled image;

d. applying a fixed size face detection to at least a portion of said integral image to provide a set of one or more candidate face regions; and

e. responsive at least in part to said set of candidate face regions, adjusting a resolution for sub-sampling a next acquired image, and

further comprising, for each region of said acquired image corresponding to a region of said merged set of candidate face regions;

f. calculating an integral image; and

g. applying variable-sized face detection to each merged region integral image to provide a set of confirmed face regions and a set of rejected face regions.

30. An apparatus according to claim 29, comprising a digital still camera, a video camera, a cell phone equipped with an image capturing mechanism or a hand help computer equipped with an internal or external camera, or combinations thereof.

31. A method of recognizing faces in an image stream with a digital image acquisition device, comprising:

a. providing a database comprising an identifier and associated parameters for each of a number of faces to be recognized;

b. receiving an acquired image from an image stream including one or more face regions;

c. sub-sampling said acquired image at a specified resolution to provide a sub-sampled image;

d. calculating a corresponding integral image for at least a portion of said sub-sampled image;

e. applying face detection to at least a portion of said integral image to provide a set of one or more candidate face regions each having a given size and a respective location;

f. using a database, selectively applying face recognition to at least one of the candidate face regions;

g. providing an identifier for each face recognized in the at least one candidate face region; and

h. storing the identifier for each recognized face in association with at least one image of said image stream, and

i. further comprising providing a level of confidence for each candidate face region based on the face detection, and applying recognition only to candidate face regions having a confidence level higher than a predetermined threshold.

32. The method of claim 31, further comprising repeating steps b. to h.

33. A method as claimed in claim 31, further comprising, responsive to a size and location of a set of one or more candidate face regions and any previously detected face regions, adjusting the resolution for sub-sampling a next acquired image.

34. A method as claimed in claim 31, further comprising storing said identifiers in association with a full-resolution image of said image stream.

35. An image processing apparatus including one or more processors, a database including an identifier and associated parameters for each of a number of faces to be recognized, and one or more digital storage media having digitally-encoded instructions embedded therein for programming the one or more processors to perform an iterative method of recognizing faces in an image stream, the method comprising:

a. receiving an acquired image from said image stream including one or more face regions;

b. sub-sampling said acquired image at a specified resolution to provide a first-sub-sampled image;

c. calculating a corresponding integral image for a least a portion of said sub-sampled image;

d. applying face detection to at least a portion of said integral image to provide a set of one or more candidate face regions each including a given size and a respective location;

e. selectively applying face recognition using said database to at least one of the candidate face regions to provide an identifier for a face recognized in a candidate face region; and

f. storing the identifier for the recognized face in association with at least one image of said image stream, and

g. further comprising providing a level of confidence for each candidate face region based on the face detection and applying recognition only to candidate face regions having a confidence level higher than a predetermined threshold.

36. A method of detecting faces in an image stream using a digital image acquisition device comprising:

a. receiving an acquired image from said image stream including one or more face regions;

b. sub-sampling said acquired image at a specified resolution to provide a sub-sampled image;

c. identifying one or more regions of said acquired image predominantly including skin tones;

d. calculating a corresponding integral image for a least one of said skin tone regions of said sub-sampled acquired image; and

e. applying face detection to at least a portion of said integral image to provide a set of one or more candidate face regions each having a given size and a respective location, and

wherein in a face detection mode of said digital image acquisition device, each new acquired image is acquired with progressively increased exposure parameters until at least one candidate face region is detected.

37. The method of claim 36, further comprising repeating a. to e.

38. A method as claimed in claim 36, wherein said identifying is performed on said sub-sampled image.

39. A method as claimed in claim 36, wherein said face detection is performed with relaxed face detection parameters.

40. A method as claimed in claim 36, further comprising:

for a candidate face region associated with a previous image, enhancing the contrast of the luminance characteristics of the corresponding region of said acquired image.

41. A method as claimed in claim 40, wherein said enhancing is performed on said sub-sampled image.

42. A method as claimed in claim 40, wherein said enhancing is performed during calculation of said integral image.

43. An image processing apparatus including one or more processors and one or more digital storage media having digitally-encoded instructions embedded therein for programming the one or more processors to perform an iterative method of detecting faces in an image stream, the method comprising:

a. receiving an acquired image from an image stream including one or more face regions;

b. sub-sampling said acquired image at a specified resolution to provide a sub-sampled image;

c. identifying one or more regions of said acquired image predominantly including skin tones;

d. calculating a corresponding integral image for a least one of said skin tone regions of said sub-sampled image; and

e. applying face detection to at least a portion of said integral image to provide a set of candidate face regions each having a given size and a respective location, and

wherein in a face detection mode of said digital image acquisition device, each new acquired image is acquired with progressively increased exposure parameters until at least one candidate face region is detected.