Six-degree-of-freedom face tracking method and device of non-contact physiological detection robot

[0106] Such as figure 1 As shown, the present invention provides a 6-DOF human face tracking method of a non-contact physiological detection robot, the method comprising:

[0107] Fix the camera at the end of the robot;

[0108] Real-time facial feature point detection and tracking based on the face image collected by the camera, and the camera coordinate system O 3 The face pose information under p face ;

[0109] The face pose information p face Transformed into a face in the base coordinate system O 1 The lower pose T b ;

[0110] Based on the face in the base coordinate system O 1 The lower pose T b Calculate the optimal target pose T at the end of the robot t ;

[0111] Based on the face in the base coordinate system O 1 The lower pose T b and the optimal target pose T at the end of the robot t Perform proportional control to get the desired pose p target ;

[0112] Based on the desired pose p target Find the inverse kinematics solution to get the target join

[0206] A 6-degree-of-freedom face tracking device for a non-contact physiological detection robot, the device includes: a 6-degree-of-freedom robot, a camera fixed at the end of the robot, and a computer for acquiring face images collected by the camera and controlling the robot ;

[0207] The computers include:

[0208] The face pose information acquisition module is used for real-time facial feature point detection and tracking based on the face image collected by the camera, and obtains the camera coordinate system O 3 The face pose information under p face ;

[0209] Coordinate transformation module, used to convert face pose information p face Transformed into a face in the base coordinate system O 1 The lower pose T b ;

[0210] The optimal target pose generation module at the end of the robot is used to base the face on the base coordinate system O 1 The lower pose T b Calculate the optimal target pose T at the end of the robot t ;

[0211] Scale control module,

[0215] A computer-readable storage medium, which stores a computer program for 6-DOF face tracking of a non-contact physiological detection robot, wherein the computer program causes the computer to perform the following steps:

[0216] Real-time facial feature point detection and tracking based on the face image collected by the camera, and the camera coordinate system O 3 The face pose information under p face ;

[0217] The face pose information p face Transformed into a face in the base coordinate system O 1 The lower pose T b ;

[0218] Based on the face in the base coordinate system O 1 The lower pose T b Calculate the optimal target pose T at the end of the robot t ;

[0219] Based on the face in the base coordinate system O 1 The lower pose T b and the optimal target pose T at the end of the robot t Perform proportional control to get the desired pose p target ;

[0220] Based on the desired pose p target Find the inverse kinematics solution to get the targe