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Affective Computing Focus on Emotion Expression
Synthesis and Recognition Jimmy Or (Editor) Digital
Instant Download
Author(s): Jimmy Or (Editor)
ISBN(s): 9783902613233, 3902613238
Edition: color illustrated
File Details: PDF, 13.55 MB
Year: 2008
Language: english
Affective Computing
Focus on Emotion Expression,
Synthesis and Recognition
Affective Computing
Focus on Emotion Expression,
Synthesis and Recognition
Edited by
Jimmy Or
Abstracting and non-profit use of the material is permitted with credit to the source. Statements and
opinions expressed in the chapters are these of the individual contributors and not necessarily those of
the editors or publisher. No responsibility is accepted for the accuracy of information contained in the
published articles. Publisher assumes no responsibility liability for any damage or injury to persons or
property arising out of the use of any materials, instructions, methods or ideas contained inside. After
this work has been published by the Advanced Robotic Systems International, authors have the right to
republish it, in whole or part, in any publication of which they are an author or editor, and the make
other personal use of the work.
A catalogue record for this book is available from the Austrian Library.
Affective Computing, Emotion Expression, Synthesis and Recognition, Edited by Jimmy Or
p. cm.
ISBN 978-3-902613-23-3
1. Affective Computing. 2. Or, Jimmy.
Preface
Affective Computing is a branch of artificial intelligence that deals with the design
of systems and devices that can recognize, interpret, and process emotions. Since
the introduction of the term “affective computing” by Rosalind Pichard at MIT in
1997, the research community in this field has grown rapidly. Affective Computing
is an important field because computer systems have become part of our daily
lives. As we nowadays live in the Age of Information Overload, and computer sys-
tems are becoming more complex, there is need for more natural user interfaces for
the overwhelmed computer users. Given that humans communicate with each
other by using not only speech but also implicitly their facial expressions and body
postures, machines that can understand human emotions and display affects
through these multimodal channels could be beneficial. If virtual agents and robots
are able to recognize and express their emotions through these channels, the result
of that will be more natural human-machine communication. This will allow hu-
man users to focus more on their tasks at hand.
This volume provides an overview of state of the art research in Affective Comput-
ing. It presents new ideas, original results and practical experiences in this increas-
ingly important research field. The book consists of 23 chapters categorized into
four sections. Since one of the most important means of human communication is
facial expression, the first section of this book (Chapters 1 to 7) presents a research
on synthesis and recognition of facial expressions. Given that we not only use the
face but also body movements to express ourselves, in the second section (Chap-
ters 8 to 11) we present a research on perception and generation of emotional ex-
pressions by using full-body motions. The third section of the book (Chapters 12 to
16) presents computational models on emotion, as well as findings from neurosci-
ence research. In the last section of the book (Chapters 17 to 22) we present applica-
tions related to affective computing.
A brief introduction to the book chapters is:
Chapter 1 presents a probabilistic neural network classifier for 3D analysis of facial
expressions. By using 11 facial features and taking symmetry of the human face
into consideration, the 3D distance vectors based recognition system can achieve a
high recognition rate of over 90%. Chapter 2 provides a set of deterministic and
stochastic techniques that allow efficient recognition of facial expression from a se-
ries of video imaging showing head motions. Chapter 3 reviews recent findings of
human-human interaction and demonstrates that the tangential aspects of an emo-
VI
tional signal (such as gaze and the type of face that shows the expression) can af-
fect the perceived meaning of the expression. Findings displayed in this chapter
could contribute to the design of avatars and agents used in the human computer
interface. Chapter 4 presents an approach to using genetic algorithm and neural
network for the recognition of emotion from the face. In particular, it focuses on
the eye and lip regions for the study of emotions. Chapter 5 proposes a system that
analyzes facial expressions based on topographic shape structure (eyebrow, eye,
nose and mouth) and the active texture.
Chapter 6 proposes a model of layered fuzzy facial expression generation (LFFEG)
to create expressive facial expressions for an agent in the affective human com-
puter interface. In this model, social, emotional and physiological layers contribute
to the generation of facial expression. Fuzzy theory is used to produce rich facial
expressions and personality for the virtual character. Based on recent findings that
the dynamics of facial expressions (such as timing, duration and intensity) play an
important role in the interpretation of facial expressions, Chapter 7 exams the
analysis of facial expressions based on computer vision and behavioral science
point of view. A technique that allows synthesis of photo-realistic expression of
various intensities is described.
In recent years, humanoid robots and simulated avatars have gained popularity.
Researchers try to develop both real and simulated humanoids that can behave
and communicate with humans more naturally. It is believed that a real humanoid
robot situated in the real world could better interact with humans. Given that we
also use whole body movements to express emotions, the next generation human-
oid robots should have a flexible spine and be able to express themselves by using
full body movements. Chapter 8 points out some of the challenges in developing
flexible spine humanoid robots for emotional expressions. Then, the chapter pre-
sents the development of emotional flexible spine humanoid robots based on find-
ings from a research on belly dance. Results of psychological experiments on the
effect of a full-body spine robot on human perceptions are presented.
Chapter 9 provides a review of the cues that we use in the perception of the affect
from body movements. Based on findings from psychology and neuroscience, the
authors raise the issue of whether giving a machine the ability to experience emo-
tions might help to accomplish reliable and efficient emotion recognition. Given
that human communications are multimodal, Chapter 10 reviews recent research
on systems that are capable of multiple input modalities and the use of alternative
channels to perceive affects. This is followed by a presentation of systems that are
capable of analyzing spontaneous input data in real world environments. Chapter
11 draws on findings from art theory to the synthesis of emotional expressions for
virtual humans. Lights, shadows, composition and filters are used as part of the
expression of emotions. In addition, the chapter proposes the use of genetic algo-
rithms to map affective states to multimodal expressions.
Since the modeling of emotion has become important in affective computing,
Chapter 12 presents a computational model of emotion. The model is capable of in-
VII
Acknowledgements
This book would not have been possible without the support of my colleagues and
friends. I own a great debt to Atsuo Takanishi of Waseda University. He gave me
VIII
Jimmy Or
May 2008
Center for High-Performance Integrated Systems
Korea Advanced Institute of Science and Technology
Daejeon, Republic of Korea
Contents
Preface ........................................................................................................................................V
1. Introduction
Face plays an important role in human communication. Facial expressions and gestures
incorporate nonverbal information which contributes to human communication. By
recognizing the facial expressions from facial images, a number of applications in the field of
human computer interaction can be facilitated. Last two decades, the developments, as well
as the prospects in the field of multimedia signal processing have attracted the attention of
many computer vision researchers to concentrate in the problems of the facial expression
recognition. The pioneering studies of Ekman in late 70s have given evidence to the
classification of the basic facial expressions. According to these studies, the basic facial
expressions are those representing happiness, sadness, anger, fear, surprise, disgust and
neutral. Facial Action Coding System (FACS) was developed by Ekman and Friesen to code
facial expressions in which the movements on the face are described by action units. This
work inspired many researchers to analyze facial expressions in 2D by means of image and
video processing, where by tracking of facial features and measuring the amount of facial
movements, they attempt to classify different facial expressions. Recent work on facial
expression analysis and recognition has used these seven basic expressions as their basis for
the introduced systems.
Almost all of the methods developed use 2D distribution of facial features as inputs into a
classification system, and the outcome is one of the facial expression classes. They differ
mainly in the facial features selected and the classifiers used to distinguish among the
different facial expressions. Information extracted from 3D face models are rarely used in
the analysis of the facial expression recognition. This chapter considers the techniques using
the information extracted from 3D space for the analysis of facial images for the recognition
of facial expressions.
The first part of the chapter introduces the methods of extracting information from 3D
models for facial expression recognition. The 3D distributions of the facial feature points
and the estimation of characteristic distances in order to represent the facial expressions are
explained by using a rich collection of illustrations including graphs, charts and face images.
The second part of the chapter introduces 3D distance-vector based facial expression
recognition. The architecture of the system is explained by the block diagrams and
flowcharts. Finally 3D distance-vector based facial expression recognition is compared with
the conventional methods available in the literature.
2 Affective Computing, Focus on Emotion Expression, Synthesis and Recognition
Fig.1. Emotion-specified facial expression [Yin et al., 2006]: 1-Neutral, 2-Anger, 3-Sadness, 4-
Surprise, 5- Happiness, 6- Disgust, 7- Fear.
Fig. 2. The 3D orientation of the facial feature points [Pandzic & Forchheimer, 2002].
in a consistent way. As a result, description schemes that utilize FAPs produce reasonable
results in terms of expression and speech related postures.
Table 2. Muscle Actions involved in the six basic expressions [Karpouzis et al.,2000].
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has given us the dates of some parts of the building; for the plaster sealings
of the wine jars bear the cartouches of the king, and they were most likely
knocked off and thrown aside within a few years of being sealed. One room
seemed to have belonged to the royal butler, for dozens of plaster sealings
of Psamtik were found together there. A jar had been fraudulently opened
by boring through the plaster, and the pottery stopper below it, and then
stopping the hole with fresh plaster. The prudent butler had struck off the
whole neck of the jar, so as to preserve the proofs of the theft entire. The
particularity of the sealing is remarkable; first the pottery bung was tied
down, and the string sealed on clay by six inspectors; then a plaster cap was
put over all that, and marked with the royal cartouche in several places.
The ruin of all this community came suddenly. Apries trusted to the
Greek mercenaries, and defied the old Egyptian party (if indeed he was king
at all according to Egyptian law); and Amasis, who had married the royal
princess (and who was therefore a legal ruler), took the national side, and
ousted his brother-in-law. Civil war was the consequence, and the Greeks—
though straining all their power—were completely crushed by Amasis. He
then carried out the protective policy of Egypt, and depopulated Daphnae,
and all other Greek settlements excepting Naukratis, which latter thus
became the only treaty-port open to Greek merchants. Hence, as we can
date the founding of Defenneh almost to a year, about 665 B.C., when
Psamtik established his mercenary camps, so we can also date its fall to a
year in 564 B.C. when Amasis struck down the Greek trade. And this just
accords with what we find, as there is a sudden cessation of Greek pottery
at a stage someway before the introduction of red figured ware, which took
place about 490 B.C.
It appears likely that as Naukratis was the home of the scarab trade to
Greece, so Daphnae was the home of the jewellery trade, and the source of
the semi-Egyptian jewellery so often found in Greek tombs. Much evidence
of the goldsmith’s work was discovered; pieces of gold ornaments, pieces
partly wrought, globules and scraps of gold, and a profusion of minute
weights, such as would only be of use for precious metals.
46. Daphniote Gold Work.
At the back of the shrine lay a black granite altar of Usertesen III, which,
like the sphinx, had received an inscription by an official at a later time.
These added inscriptions are of value, although they have been nearly
effaced by subsequent kings; they show that in the dark times before the
eighteenth dynasty (for by their rudeness they fall in that age), certain royal
chancellors could venture to usurp the monuments of previous kings. This
could hardly have been possible if the king of that period cared for the
monuments; and we probably see in these chancellors the native viziers of
the Hyksos kings, who were also apparently reckoned by the Egyptians as
their rulers, and entered with ephemeral reigns of a year or two in the lists
of the fourteenth dynasty. It was this vice-royalty that was conferred on
Joseph, when the royal signet was given to him, and he had the honour of
the second chariot.
But it was evident that some temple had existed here before Aahmes, as
the monuments were of earlier ages; and on looking at the plan it is seen
that his temple is not in the middle of the enclosure, nor is it in the line of
the axis, but at right angles to it. I therefore searched for the first temple
about the midst of the area, but for a long time nothing appeared besides
chips. At last a mass of sand was found with a vertical face, and this I at
once recognised as the sand bed laid in the earth, on which the walls of the
temple had been founded. It was covered with about twelve feet of dust and
chips, but by sinking pits at intervals it was traced all round the whole
extent of the former temple. The foundation deposits were unattainable, as
they were too deep beneath the water level, and the great sand bed collects
the water so readily that it could not be kept down more than three feet by
baling.
Not only were there these granite inscriptions to be copied, but also a
great number of graffiti and travellers’ names on the sandstone rocks,
principally at Gebel Silsileh. Among these was a Phoenician inscription,
one of the very few known in Egypt; and some curious quarry records of
Roman age. The main inscription of this region is, however, one very
seldom seen, even by antiquaries as it is in a valley
55. An Inscribed Rock At Silsileh.
where no one stops. It portrays Antef V and his vizier Khati worshipping
Mentuhotep IV and his wife. Near it is another, smaller, tablet with the
worship of the same king; and up the valley we discovered a tablet with the
worship of Sankh-ka-ra, all of the eleventh dynasty. All over this district are
many rude figures of animals, marked on the rocks by hammering: they are
of various ages, some perhaps modern, but the earlier ones certainly before
the eighteenth dynasty; and, to judge by the weathering of the rock, it seems
probable that they were begun here long before any of the monuments of
Egypt that we know. The usual figures are of men, horses, and boats, but
there are also camels, ostriches and elephants to be seen.
On the desert hills behind Esneh I found what is—so far—the oldest
thing known from Egypt. In prehistoric days the Nile used to fill the whole
breadth of the valley, to a depth of a couple of hundred feet, fed with the
heavy rainfall that carved back the valleys all along the river by great
waterfalls, the precipices of which now stand stark and arid in the bleaching
sun. Many parts of the valley are above the present river, and are now
desert, so that at Esneh the hills are several miles from the Nile, and on a
spur of one—where probably no man sets foot for
Having finished the Theban work, I then went to Dahshur, and there
made a survey around the two large pyramids; but unfortunately I could not
obtain the permission to uncover the bases of the pyramids in time to
measure more than the southern one. This pyramid is interesting, as it
retains the original casing over most of it, and gives us some idea of what
the other pyramids looked like before the plundering by Arabs, and perhaps
older thieves. The outside is peculiar, as being of a steeper angle below than
above, and hence it is often called the ‘blunted pyramid.’ The results of the
survey were that it was all designed in even numbers of cubits. The base
was 360 cubits, the height 200, divided into 90 cubits steep, and 110 cubits
of flatter slope. The space walled in around it was 100 cubits wide. Another
small pyramid on the south of it was 100 cubits square.
While at Dahshur I also found an interesting point about the ancient
roads. The road from Sakkara to the oasis of Ammon was marked out by
banks of gravel swept up on either side, leaving a clear space 50 cubits
wide. The other road from Sakkara to the Fayum was marked out by
milestones all along, there being a larger tablet at each schoenus, or 4 miles,
while at each 1000 cubits, or third of a mile, was a lesser pillar on a stone
socket.
63. Way-marks on Fayum Road.
65. Flint
Knife.
of inscription of Amenemhat III. It was evident that the two great piles of
stone had been the pedestals of colossal seated monolithic statues, carved in
hard quartzite sandstone, and brilliantly polished. These statues faced
northward, and around each was a court-yard wall with sloping outer face,
and red granite gateway in the north front. The total height of the colossi
was about sixty feet from the ground. The limestone pedestal rose twenty-
one feet, then the sandstone colossus had a base of four feet, on which the
figure, seated on its throne, rose to a height of thirty-five feet more. Thus
the whole statue and part of its pedestal would be visible above the
enclosing court-yard wall, and it would appear from a distance as if it were
placed on a truncated pyramid. The description of Herodotos, therefore, is
fully accounted for; and it shows that he actually saw the figures, though
from a distance, as any person who visited them closely would not have
described them in such a manner.
68. Section of Court, with Statue.
a quarter of the length from the south-west corner. The original explorers
descended a passage with steps to a chamber, from which apparently there
was no exit. The roof consisted of a sliding trap-door, however, and
breaking through this another chamber was reached at a higher level. Then
a passage opened to the east, closed with a wooden door, and leading to
another chamber with a trap-door roof. But in front of the explorer was a
passage carefully plugged up solid with stone; this they thought would lead
to the prize, and so all the stones were mined through, only to lead to
nothing. From the second trap-door chamber a passage led northward to the
third such chamber. From that a passage led west to a chamber with two
wells, which seemed as if they led to the tomb, but both were false. This
chamber also was almost filled with masonry, which all concealed nothing,
but had given plenty of occupation to the spoilers who removed it in vain. A
filled-up trench in the floor of the chamber really led to the sepulchre; but
arriving there no door was to be found, as the entrance had been by the roof,
an enormous block of which had been let down into place to close the
chamber. So at last the way had been forced by breaking away a hole in the
edge of the glassy-hard sandstone roofing block, and thus reaching the
chamber and its sarcophagi. By a little widening of the spoilers’ hole I
succeeded in getting through it into the chamber. The water was up to the
middle of my body, and so exploration was difficult; but the floor was
covered with rubbish and chips, which might contain parts of the funereal
vessels, and therefore needed searching. The rubbish in the sarcophagi I
cleared out myself; and then I set some lads to gather up the scraps from the
floor on the flat blade of a hoe (as it was out of arms’ reach under water),
and after searching them they threw them into the sarcophagi. Thus we
anxiously worked on for any inscribed fragments; my anxiety being for the
cartouche of the king, the boys’ anxiety for the big bakhshish promised, at
per hieroglyph found, extra value given for cartouches. The system worked,
for in the first day I got the coveted
70. Inscription of
Amenemhat III.
71. Altar of Neferu-ptah.
and a wooden panel used instead; and then the regular series of panel
portraits extends until the decline in the third century. All this custom of
decorating the mummies arose from their being kept above ground for
many years in rooms, probably connected with the house. Various signs of
this usage can be seen on the mummies, and in the careless way in which
they were at last buried, after such elaborate decoration.
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