Facial behaviour mapping-From video footage to a robot head

Peter Jaeckel*, Neill Campbell, Christopher R Melhuish

*Corresponding author for this work

Research output: Contribution to journalArticle (Academic Journal)peer-review

30 Citations (Scopus)


As autonomous robotic systems advance, they will be required and designed for interaction with humans in order to exchange information, which is essential for fulfilling their tasks. It is well established that human-machine interactions are more believable and memorable when a physical entity is present, provided that the machine behaves in a realistic manner. It is desirable to adopt face-to-face communication, because it is the most natural and efficient way of exchanging information, and does not require users to alter their habits. In this context, this paper describes a process for animating a robot head, based on video input of a human head. We map from the 2D coordinates of feature points into the robot's servo space, using Partial Least Squares (PLS). Learning is done using a small set of keyframes manually created by an animator. The method is efficient, robust to tracking errors and independent of the scale of the face being tracked. (C) 2008 Elsevier B.V. All rights reserved.

Translated title of the contributionFacial behaviour mapping--From video footage to a robot head
Original languageEnglish
Pages (from-to)1042-1049
Number of pages8
JournalRobotics and Autonomous Systems
Issue number12
Publication statusPublished - 31 Dec 2008
Event10th British Conference on Mobile Robotics - Towards Autonomous Robotic Systems - Aberystwyth, United Kingdom
Duration: 3 Sept 20075 Sept 2007


  • Partial Least Squares
  • Facial behaviour
  • Tracking


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