An end-to-end face authentication system integrating 2D color images and depth data is presented in this paper, based on a low-cost sensor capable of real-time acquisition of 3D images and associated color images. Depth data is used for robust face detection, localization and 3D pose estimation, as well as for compensating pose and illumination variations of facial images prior to classification. The performance of the proposed system is tested on an extended face database recorded in real-world conditions, while a complete security and privacy analysis is conducted in order to ensure that all necessary countermeasures are built into the system.
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