A human-robot communication system using face images

A method is presented to analyse facial expressions in images obtained by a camera. The system can be employed in a humanoid or a home robot enabling the robot to receive commands form a person, or to perceive the person's mood or intention. A global-local decomposition of the image under examination is implemented in the proposed system; then the facial expression is recognised by the system. Experimental studies are reported, and a comparison with five existing techniques is presented. © 2004 IEEE.