CN106845380A - Face identification system based on mechanical arm - Google Patents
Face identification system based on mechanical arm Download PDFInfo
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- CN106845380A CN106845380A CN201710027384.XA CN201710027384A CN106845380A CN 106845380 A CN106845380 A CN 106845380A CN 201710027384 A CN201710027384 A CN 201710027384A CN 106845380 A CN106845380 A CN 106845380A
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- mechanical arm
- identification system
- face identification
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- camera
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/30—Noise filtering
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/94—Hardware or software architectures specially adapted for image or video understanding
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- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Software Systems (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Human Computer Interaction (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention discloses a kind of face identification system based on mechanical arm, the system includes mechanical arm, PC ends, monitor and digital circuit blocks, wherein：The mechanical arm is provided with camera, for obtaining facial image；The PC ends are used to monitor and control machinery arm；The monitor is used to monitor the facial image after shooting facial image and treatment；The digital circuit blocks are used to process the facial image for obtaining, and filter non-designated color and reduce picture noise.Face identification system of the invention has the advantages that low power consuming, low cost and is easy to elasticity modification, only allow image recognition to automate to be easier to popularize, and can also be modified in response to the special accessory of different user or mechanical structure, the purpose of deformity of limbs personage and caregiver's burden is mitigated to reach.
Description
Technical field
The present invention relates to pattern-recognition and Computer Control Technology field, more particularly to a kind of people based on mechanical arm
Face identifying system.
Background technology
Setting up a set of image identification system needs huge and complicated system resource, comprising substantial amounts of internal memory, quick place
Reason device operational capability, image capture device and display device, manufacture the result of progress and a large amount of productions of science and technology in decades,
So that presently commercially available cheap personal computer has all possessed these resources and device, it is sufficient to deal with the image recognition system of complexity
System；Plus the abundant of Internet resources, the acquirement of software or application development are more facilitated, therefore have many image recognitions at present
Technology is to perform on the computer systems.However, need not waste all of computer resource in some specific occasions to complete list
Pure image identification system, this system makes its standby or closes power supply by only may need to operating a few minutes, for example, be applied to
The automation mouth control switch delivery apparatus of deformity of limbs personage.Image identification system constituted by way of computer is by waiting as long for
Only for performing image recognition work in a short time, and other time simply may waste electric power to wait next what not being known
When the instruction that can perform, be probably a problem that must be faced for energy resource consumption aspect.Although computer system can be allowed
Into standby mode, and using Rouser startup image recognition work, but electric power, the Yi Jiping that this whole system is consumed
The volume that the peripheral units such as curtain keyboard additionally take, the undoubtedly extra wasting of resources.Therefore, increasingly exhausted in earth resource
Today, one image identification system with low-power consumption as requirement of exploitation is a very urgent subject under discussion.
Automate disabled person's accessory with the image recognition of personal computer system institute framework one, such as Chen Zhengxian is delivered
Automation mouth control switch delivery apparatus, the device uses high image quality video camera, motor drive shaft control card, three shaft machine hand arms, and leads to
Cross LabVIEW softwares and complete image recognition and automation function.Demand is looked after except mechanical structure bulkiness occupancy sufferer
Beyond space, the personal computer electric power spent by with high-power servo motor standby for a long time, and great number software and hardware into
This, is not that general accessory demander to be born；Additionally, it is intended to change the device to adapt to different applications, nor
One nothing the matter.From from the perspective of product development, image identification system divides with the design of mechanical structure (containing electric device)
Category different field, it is therefore necessary to both are distinguished and is independently developed, and with the interface (such as RS-232) of popularity rate high as two
Communication between person.
The content of the invention
In view of this, it is an object of the invention to provide a kind of face identification system based on mechanical arm.
To achieve these goals, technical scheme provided in an embodiment of the present invention is as follows：
A kind of face identification system based on mechanical arm, the system includes mechanical arm, PC ends, monitor and numeral
Circuit module, wherein：
The mechanical arm is provided with camera, for obtaining facial image；
The PC ends are used to monitor and control machinery arm；
The monitor is used to monitor the facial image after shooting facial image and treatment；
The digital circuit blocks are used to process the facial image for obtaining, and filter non-designated color and reduce image and make an uproar
Sound.
As a further improvement on the present invention, the digital circuit blocks include FPGA processing units, microprocessor, SRAM
Memory, eeprom memory and sound amplification detection unit, the FPGA processing units are used to be connected and carry out with camera
Inter-process, microprocessor is used for processing facial image, and SRAM memory is used to store facial image, and EEPROM is deposited
Reservoir is used to store color table, and sound amplification detection unit is used to detect the operation of sound and control machinery arm.
As a further improvement on the present invention, the digital circuit blocks are provided with some RS-232 interfaces, micro- place
Reason device is communicated by RS-232 interface respectively with PC ends and mechanical arm.
As a further improvement on the present invention, the digital circuit blocks are provided with USB interface, the microprocessor and monitor
Communicated by USB interface.
As a further improvement on the present invention, the camera is the camera lens of built-in cmos image induction chip OV7670
Head module, camera is connected to digital circuit blocks with flat cable.
As a further improvement on the present invention, the camera is more than or equal to 80cm with the transmission range of FPGA processing units.
As a further improvement on the present invention, the digital circuit blocks include imaging circuit and are connected with imaging circuit
Feed regulator isolator, the XCLK inputs of the imaging circuit are parallel with first resistor, and the output end of FPGA processing units is in series with
Second resistance, feed regulator isolator is used to be depressured the input voltage of camera with first resistor and second resistance.
As a further improvement on the present invention, the first resistor is 300 ohm, and second resistance is 56 ohm, and power supply is adjusted
It is 2.8V that whole device is used to be depressured the input voltage of camera from 3.3V.
As a further improvement on the present invention, the sound amplification detection unit includes Electret Condencer Microphone and is sequentially connected
The first amplifier U1A, the second amplifier U1B and the 3rd amplifier U1C, voice signal by the first amplifier U1A, second put
After big device U1B amplifies, current potential comparing is carried out in the 3rd amplifier U1C, electricity high is then exported when voice signal is bigger than noise current potential
Position, on the contrary then export low potential.
As a further improvement on the present invention, the digital circuit blocks also include located at microprocessor and mechanical arm it
Between relay and transistor, the transistor is used to drive a relay to be opened and closed according to position.
The beneficial effects of the invention are as follows：
Face identification system of the invention have the advantages that low power consuming, low cost and be easy to elasticity modification, only allow image to be known
Zi Donghua not be easier to popularize, and can also be modified in response to the special accessory of different user or mechanical structure, to reach
Into the purpose for mitigating deformity of limbs personage and caregiver's burden.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments described in invention, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the module diagram of face identification system of the present invention based on mechanical arm；
Fig. 2 is the circuit diagram of thecamera head interface in the embodiment of the invention；
Fig. 3 is the circuit diagram of sound amplification detection unit in the embodiment of the invention；
Fig. 4 is the drive circuit figure of mechanical arm power supply relay in the embodiment of the invention；
Fig. 5 is Monitoring and Controlling interface circuit figure in the embodiment of the invention；
Fig. 6 is orientation range schematic diagram in the embodiment of the invention.
Specific embodiment
In order that those skilled in the art more fully understand the technical scheme in the present invention, below in conjunction with of the invention real
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described implementation
Example is only a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under the premise of creative work is not made, should all belong to protection of the present invention
Scope.
Shown in ginseng Fig. 1, the invention discloses a kind of face identification system based on mechanical arm, the system includes manipulator
Arm 10, PC ends 20, monitor 30 and digital circuit blocks 40, wherein：
Mechanical arm 10 is provided with camera 11, for obtaining facial image；
PC ends 20 are used to monitor and control machinery arm；
Monitor 30 is used to monitor the facial image after shooting facial image and treatment；
Digital circuit blocks 40 are used to process the facial image for obtaining, and filter non-designated color and reduce picture noise.
Further, digital circuit blocks 40 include FPGA processing units 41, microprocessor 42, SRAM memory 43,
Eeprom memory 44 and sound amplification detection unit 45, FPGA processing units are used to being connected and carrying out internal place with camera
Reason, microprocessor is used for processing facial image, and SRAM memory is used to store facial image, and eeprom memory is used
In storage color table, sound amplification detection unit is used to detect the operation of sound and control machinery arm.
In addition, digital circuit blocks 40 are provided with some RS-232 interfaces 46, microprocessor 42 and PC ends 20 and manipulator
Arm 10 is communicated by RS-232 interface 46 respectively.USB interface 47, microprocessor 42 and prison are additionally provided with digital circuit blocks
Visual organ 30 is communicated by USB interface 47.
The essential core of digital circuit blocks of the present invention 40 is FPGA processing units and microprocessor XScale.Camera
(camera) after the view data input FPGA and SRAM for obtaining, digital circuit, will be non-according to the color table stored in EEPROM
The color specified filters and reduces the image procossings such as picture noise, carries out the work of image recognition pre-treatment.
Programmable color table (programmable color tonetable) therein, can allow user according to varying environment
The color of object is edited, to reduce the chance of system erroneous judgement.The result data of image procossing is exported to XScale microprocessors
Subsequent treatment and analysis are carried out, and by the running of RS-232 interface control machinery arm.
The RS-232 coffrets that the present invention can be controlled by personal computer, the volume of color table is carried out by window writing routine
Volume, write-in or read, or the image graphic after the current image for shooting and treatment is stored into personal computer.In addition,
USB interface can connect monitor, the image after monitor obtains real-time shooting image and treatment.The two interfaces
Device need not be connected with system by normal operation, only using just needed when above having demand open personal computer or screen
Curtain connection.Finally, sound detection part carries out the action of article crawl for starting mechanical arm, to facilitate the use of disabled person
Family is operated with sound activation system.Circuit system is all using rgb color space (color space), including camera, FPGA
Inter-process and cell format and output to monitor screen USB interface.
The main built-in Xilinx XC3S400-PQ208 of the digital circuit blocks that are used in the embodiment of the invention,
And the XScale series microprocessors of 8kbytes program internal memories are included, also 256k*16 bitsSRAM, two groups of RS- in addition
232 interfaces are respectively FPGA and XScale is used.
The each unit in digital circuit blocks in the embodiment of the invention is described in detail below.
(1) imaging circuit design
Camera uses the camera lens module of built-in cmos image induction chip OV7670, and is connected to flat cable
Main circuit.Because working frequency of chip reaches 24-MHz, in order to the circuit for considering signal integrity (signal integrity) sets
Meter, coffret and flat cable pin arrange such as Fig. 2, and ground connection is interted between each signal, and in clock signal source output terminals
Series resistance.So arrange allow camera lens module transmission range up to 80cm still can normal operation, length be also enough to smoothly peace
Loaded on mechanical arm front end.The power supply of camera by feed regulator isolator (regulator) by 3.3V switch to 2.8V provide, in addition for
Avoiding FPGA output signal 3.3V levels influences the 2.8V levels of OV7670, in camera module XCLK inputs parallel connection 300
Ohmic resistance, 3.3*300/ (56+300)=2.78V is reduced to after 56 Ohmic resistance partial pressures of collocation FPGA output end series connection.Shooting
Machine resolution setting is QVGA 320*240, and signal format is RGB 5-6-5 (R：5-bit, G：6-bit, B：5-bit), every two
Individual clock exports a pixel 16-bit data.
XCLK signals are relatively low due to the signal level at camera module end, and the practice of parallel resistance step-down can reduce letter simultaneously
The input impedance of number terminal, although do not accomplish impedance matching completely, but considerable degree of back wave can be reduced.
USB interface uses display, internal main by numeral-analogy conversion chip DAC (D/A converter), IC volume
Number it is made up of ATT20C492, converts digital signals into the anaiog signal that USB interface R, G, B are separate.Output resolution ratio sets
It is standard VGA 680480, vertical scanning frequency is 60Hz.DAC operation frequencies are 50.53MHz, and input signal format is RGB
5-6-5, each two clock gather a pixel 16-bit data.
(2) sound amplification detection circuit design
Autogenous cutting sufferer can be operated with specific voice initiated mechanical arm for convenience, prop up palate using tongue here
Clear and melodious " derk " two sound is sent afterwards, and main frequency is about 1.3kHz, and it is larger to there are about 3~5 amplitudes in sound initiating terminal
Ripple.Using the interval time between the two characteristics and two sound, you can realize simple sound detection.
Sound amplification detection circuit uses Electret Condencer Microphone, as shown in figure 3, sound amplification detection unit includes condenser type
Microphone and the first amplifier U1A being sequentially connected, the second amplifier U1B and the 3rd amplifier U1C, voice signal simultaneously pass through
After U1A, U1B amplify, current potential comparing is carried out in U1C, high potential is then exported when voice signal is bigger than noise current potential；Anti- is then defeated
Go out low potential.Output is wide according to the ripple of sound with Digital Logic to FPGA after electric resistance partial pressure switchs to 3.3V logic levels again
Degree, the interval time between wave number amount and two sound determine whether the startup sound specified.
(3) mechanical arm power supply relay switch designs
In order to reduce the loss of system power consumption and mechanical arm servo (servo), in must be closed under holding state
Mechanical arm power supply is closed until receiving voice initiated signal.Enabling signal is exported to XScale (port by FPGA (pin#51)
3.4) and buzzer, XScale exports low level (port 3.5) to start by the relay of transistor driving after receiving the signal
Device, then mechanical arm power supply is started by relay.After a succession of predetermined work is completed, XScale exports Gao Zhun to mechanical arm
Position to close relay, with closing mechanical arm power supply.Fig. 4 is relay drive circuit.
(4) PC Monitoring and Controllings Interface design
In order that PC can be monitored and control machinery arm, Fig. 5 is inserted between the control panel of XScale and mechanical arm
Interface circuit, be connected with PC with RS-232.XScale receives the data of PC transmission at any time, and selects manipulator according to functioning condition
The control of arm is XScale or PC, when control is XScale, the control of mechanical arm is transferred data to by XScale TXD
Making sheet, is supplied to PC to monitor while being sent to RS-232；When control is PC, machinery is transferred data to by RS-232 by PC
The control panel of arm, control panel transfers data to RS-232 and is supplied to PC to monitor simultaneously.
(5) mechanical arm face identification system is realized
Circuit system of the invention is opened comprising main circuit board with various daughter board, camera module, flash lamp for photography, two groups of fine motions
Servo (servo) control panel of pass, power-supply system and mechanical arm.The 5V power supplys that wherein circuit system is used be by
Power supply changeover device is directly provided, and the relay that the power module that mechanical arm is used then is controlled by microprocessor is switched
Action, both are all using 110V power supplys and by battery main switch control.Flash lamp for photography uses 12V power supplys, by mechanical arm power supply mould
Block is provided, and only can be just lit when mechanical arm starts.Microswitch installed in mechanical arm front end is used for avoiding
Degree spiral causes damage, and the interrupt pins for being connected to microprocessor stop the action of spiral servo when closure is switched immediately；
Another group of microswitch is detecting unwrapping wire arresting stop, it is to avoid the excessive unwrapping wire of servo releases line to cause to tangle.Whole machinery
The control of arm is exported to Servo Control Board by the UART TXD pins of XScale microprocessors, and each control information is 3-
4) and the parameter such as angle position byte forms, comprising prefix byte 0xFF, servo channel (channel, 0~.XScale with
PC Monitoring and Controlling interface boards are can be inserted between Servo Control Board.
Mechanical arm uses five servos in present embodiment, and wherein CH0 controls the horizontal rotation of whole branch arm, CH1,
CH2 controls the angle of two branchs, and CH3 controls the angle of front end pedestal, and CH4 is spiral servo, as lifting nipple carrier
Purposes.
Running the invention aims to ensure mechanical arm, can be properly positioned in different target locations,
Can be corrected when deviations are excessive.In addition, under the consideration of safety factor, in order to avoid unusual condition occurs, example
As powered off, mechanical arm forearm is caused to drop suddenly, testee's head highest point distance at least needs holding 20 from base platform h
It is more than centimetre；And in the consideration of psychological levels, then farther distance must be kept to reduce constriction.Therefore in the present embodiment
Tested using h=50 centimeters of height, such height in actual operation with the movement position that mechanical arm is different,
So that the vertical range of camera and face changes about between 65~90 centimeters.The angular field of view level of camera is about 30
Spend, be vertically about 23 degree, camera highest can move to 90 centimeters under platform base h=50 centimeters of height, now reach
Visual range is about 50*36 centimeters.Mechanical arm maximum development length in other present embodiment is 52 centimeters (apart from platform
Base), 10 centimeters of the distance of rotation disk center and base edge is added, it is the movable model of mechanical arm within 62 centimeters of radius
Enclose.Coordinate grid lines region in the orientation range such as Fig. 6 that these conditions are formed, about 32*25 centimeters or 27*50 centimeters.
By above-mentioned technical proposal as can be seen that the invention has the advantages that：
Face identification system of the invention have the advantages that low power consuming, low cost and be easy to elasticity modification, only allow image recognition from
Dynamicization is easier to popularize, and can also be modified in response to the special accessory of different user or mechanical structure, is subtracted with reaching
The purpose that light deformity of limbs personage bears with caregiver.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be in other specific forms realized.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires to be limited rather than described above, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as the claim involved by limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each implementation method is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should
Specification an as entirety, the technical scheme in each embodiment can also be formed into those skilled in the art through appropriately combined
May be appreciated other embodiment.
Claims (10)
1. a kind of face identification system based on mechanical arm, it is characterised in that the system includes mechanical arm, PC ends, prison
Visual organ and digital circuit blocks, wherein：
The mechanical arm is provided with camera, for obtaining facial image；
The PC ends are used to monitor and control machinery arm；
The monitor is used to monitor the facial image after shooting facial image and treatment；
The digital circuit blocks are used to process the facial image for obtaining, and filter non-designated color and reduce image and make an uproar
Sound.
2. the face identification system based on mechanical arm according to claim 1, it is characterised in that the digital circuit mould
Block includes FPGA processing units, microprocessor, SRAM memory, eeprom memory and sound amplification detection unit, described
FPGA processing units are used to being connected and carrying out inter-process with camera, and microprocessor is used for processing facial image,
SRAM memory is used to store facial image, and eeprom memory is used to store color table, and sound amplification detection unit is used to examine
Survey the operation of sound and control machinery arm.
3. the face identification system based on mechanical arm according to claim 2, it is characterised in that the digital circuit mould
Block is provided with some RS-232 interfaces, and the microprocessor is led to by RS-232 interface respectively with PC ends and mechanical arm
News.
4. the face identification system based on mechanical arm according to claim 2, it is characterised in that the digital circuit mould
Block is provided with USB interface, and the microprocessor is communicated with monitor by USB interface.
5. the face identification system based on mechanical arm according to claim 1, it is characterised in that the camera is interior
The camera module of CMOS image sensing chips OV7670 is built, camera is connected to digital circuit blocks with flat cable.
6. the face identification system based on mechanical arm according to claim 5, it is characterised in that the camera with
The transmission range of FPGA processing units is more than or equal to 80cm.
7. the face identification system based on mechanical arm according to claim 5, it is characterised in that the digital circuit mould
Block includes imaging circuit and the feed regulator isolator that is connected with imaging circuit, and the XCLK inputs of the imaging circuit are parallel with the
One resistance, the output end of FPGA processing units is in series with second resistance, and feed regulator isolator is used for first resistor and second resistance
Input voltage to camera is depressured.
8. the face identification system based on mechanical arm according to claim 6, it is characterised in that the first resistor is
300 ohm, second resistance is 56 ohm, and it is 2.8V that feed regulator isolator is used to be depressured the input voltage of camera from 3.3V.
9. the face identification system based on mechanical arm according to claim 2, it is characterised in that the sound amplifies inspection
Surveying unit includes Electret Condencer Microphone and the first amplifier U1A, the second amplifier U1B and the 3rd amplifier U1C that are sequentially connected,
Voice signal carries out current potential comparing after the first amplifier U1A, the second amplifier U1B amplify in the 3rd amplifier U1C, when
Voice signal then exports high potential when bigger than noise current potential, otherwise then exports low potential.
10. the face identification system based on mechanical arm according to claim 2, it is characterised in that the digital circuit
Module also includes that located at the relay and transistor between microprocessor and mechanical arm the transistor is used to be driven according to a position
Motor type relay is opened and closed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710027384.XA CN106845380A (en) | 2017-01-13 | 2017-01-13 | Face identification system based on mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710027384.XA CN106845380A (en) | 2017-01-13 | 2017-01-13 | Face identification system based on mechanical arm |
Publications (1)
| Publication Number | Publication Date |
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| CN106845380A true CN106845380A (en) | 2017-06-13 |
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ID=59124100
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710027384.XA Pending CN106845380A (en) | 2017-01-13 | 2017-01-13 | Face identification system based on mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108681704A (en) * | 2018-05-15 | 2018-10-19 | 北京理工大学 | A kind of face identification system based on deep learning |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101219082A (en) * | 2007-12-26 | 2008-07-16 | 上海电气集团股份有限公司 | Intelligent wheelchair |
| CN204790566U (en) * | 2015-07-16 | 2015-11-18 | 高世恒 | Multi -functional intelligent house robot |
-
2017
- 2017-01-13 CN CN201710027384.XA patent/CN106845380A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101219082A (en) * | 2007-12-26 | 2008-07-16 | 上海电气集团股份有限公司 | Intelligent wheelchair |
| CN204790566U (en) * | 2015-07-16 | 2015-11-18 | 高世恒 | Multi -functional intelligent house robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108681704A (en) * | 2018-05-15 | 2018-10-19 | 北京理工大学 | A kind of face identification system based on deep learning |
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