Abstract
Conventional RGB image-based head pose estimation methods encounter many difficulties due to pose variation and illumination. In this paper, we present a real-time 3D head motion estimation method using both RGB image data and depth data. Head is detected from depth data in a simple way. Based on a rigid-body motion model, we derive the linear depth and optical flow constraint equations respectively. These constraints are combined into a single linear system, from which head motion vector is recovered by minimizing a least-squares. Experimental results have shown that the use of both depth data and RGB data in our method overcomes the shortcomings of single depth or RGB data. In addition, it’s still robust when there is only one type of data reliable.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Murphy-Chutorian, E., Trivedi, M.M.: Head Pose Estimation in Computer Vision: A Survey. IEEE Trans. on PAMI 31, 607–626 (2009)
Jones, M., Viola, P.: Fast multi-view face detection. Technical Report TR2003-096, Mitsubishi Electric Research Laboratories (2003)
Morency, L.-P., Sundberg, P., Darrell, T.: Pose estimation using 3d view-based eigenspaces. In: Aut. Face and Gestures Rec. (2003)
Vatahska, T., Bennewitz, M., Behnke, S.: Feature-based head pose estimation from still images. In: Workshop on Subspace Methods (2009)
Yang, R., Zhang, Z.: Model-based head pose tracking with stereovision. In: Aut. Face and Gestures Rec. (2002)
Matsumoto, Y., Zelinsky, A.: An algorithm for real-time stereo vision implementation of head pose and gaze direction measurement. In: Aut. Face and Gestures Rec. (2000)
Fanelli, G., Gall, J., Van Gool, L.: Real time head pose estimation with random regression forests. In: Proc. of IEEE CVPR (2011)
Fanelli, G., Weise, T., Gall, J., Van Gool, L.: Real time head pose estimation from consumer depth cameras. In: DAGM (2011)
Breitenstein, M.D., Kuettel, D., Weise, T., Van Gool, L.: Real-time face pose estimation from single range images. In: Proc. of IEEE CVPR (2008)
Cai, Q., Gallup, D., Zhang, C., Zhang, Z.: 3D deformable face tracking with a commodity depth camera. In: Daniilidis, K., Maragos, P., Paragios, N. (eds.) ECCV 2010, Part III. LNCS, vol. 6313, pp. 229–242. Springer, Heidelberg (2010)
Seemann, E., Nickel, K., Stiefelhagen, R.: Head pose estimation using stereo vision for human-robot interaction. In: Aut. Face and Gesture Rec. (2004)
Bregler, C., Vetter, T.: Tracking people with twist and exponential maps. In: Proc. of IEEE CVPR (1998)
Horn, B.K.P., Schunck, B.G.: Determining Optical Flow. Artificial Intelligence 17, 185–203 (1981)
Kondori, F.A., Yousefi, S., Li, H., Sonning, S.: 3D head pose estimation using the Kinect. In: Wireless Communication and Signal Processing (WCSP) 2011 International Conference on Digital Object Identifier (2011)
Zhu, Y., Fujimura, K.: 3D Head Pose Estimation with Optical Flow and Depth Constraints. In: Fourth International Conference on 3-D Digital Imaging and Modeling (2003)
Nguyen, H., Smeulders, A.: Robust Tracking Using Foreground-Background Texture Discrimination. International Journal of Computer Vision 69, 277–293 (2006)
Zhao, T., Nevatia, R.: Tracking Multiple Humans in Complex Situations. IEEE Trans. on PAMI 26, 1208–1221 (2004)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer International Publishing Switzerland
About this paper
Cite this paper
Liu, F., Tang, J., Song, Y., Xiang, X., Rui, T., Tang, Z. (2013). Real-Time Head Pose Estimation by RGB-D Camera. In: Huet, B., Ngo, CW., Tang, J., Zhou, ZH., Hauptmann, A.G., Yan, S. (eds) Advances in Multimedia Information Processing – PCM 2013. PCM 2013. Lecture Notes in Computer Science, vol 8294. Springer, Cham. https://doi.org/10.1007/978-3-319-03731-8_65
Download citation
DOI: https://doi.org/10.1007/978-3-319-03731-8_65
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-03730-1
Online ISBN: 978-3-319-03731-8
eBook Packages: Computer ScienceComputer Science (R0)