US 9,810,975 B2
Rear-projected life-like robotic head
Mohammad H. Mahoor, Lone Tree, CO (US); Ali Mollahosseini, Denver, CO (US); Luke Skelly, Denver, CO (US); and Quinn Martindale-George, Denver, CO (US)
Assigned to University of Denver, Denver, CO (US)
Filed by Colorado Seminary, Denver, CO (US)
Filed on Feb. 11, 2016, as Appl. No. 15/42,002.
Claims priority of provisional application 62/115,023, filed on Feb. 11, 2015.
Prior Publication US 2016/0231645 A1, Aug. 11, 2016
Int. Cl. G03B 21/14 (2006.01); G03B 21/10 (2006.01); G03B 21/606 (2014.01); G03B 21/62 (2014.01); H04N 9/31 (2006.01)
CPC G03B 21/145 (2013.01) [G03B 21/10 (2013.01); G03B 21/606 (2013.01); G03B 21/62 (2013.01); H04N 9/3141 (2013.01); H04N 9/3185 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A robotic head comprising:
a head enclosure;
a translucent face mask coupled with the head enclosure, the face mask having a front side and a rear side, the face mask comprising a plurality of facial features;
a neck system coupled with the head enclosure;
a pan-tilt unit coupled with the neck system and configured to move the head enclosure and the face mask;
a projector disposed within the head enclosure and disposed to project images of a face onto the rear side of the face mask, wherein the projector is configured to project a two-dimensional image of a face with a plurality of fiducial marker points onto the rear side of the face mask;
a lens with a wide-projection angle through which the projector projects the two-dimensional image of the face onto the rear side of the face mask; and
a camera configured to record an image of the face mask with the plurality of fiducial marker points projected onto the rear side of the face mask; and
a processor coupled with the camera and configured to:
determine a plurality of distances between the location of each of the plurality of fiducial marker points on the face mask relative to an expected location of each of the plurality of fiducial marker points on the face mask;
calculate a transformation based on the plurality of distances; and
apply the transformation to two-dimensional images of a face.