3D head pose estimation and tracking using particle filtering and ICP algorithm

Abstract

This paper addresses the issue of 3D head pose estimation and tracking. Existing approaches generally need huge database, training procedure, manual initialization or use face feature extraction manually extracted. We propose a framework for estimating the 3D head pose in its fine level and tracking it continuously across multiple Degrees of Freedom (DOF) based on ICP and particle filtering. We propose to approach the problem, using 3D computational techniques, by aligning a face model to the 3D dense estimation computed by a stereo vision method, and propose a particle filter algorithm to refine and track the posteriori estimate of the position of the face. This work comes with two contributions: the first concerns the alignment part where we propose an extended ICP algorithm using an anisotropic scale transformation. The second contribution concerns the tracking part. We propose the use of the particle filtering algorithm and propose to constrain the search space using ICP algorithm in the propagation step. The results show that the system is able to fit and track the head properly, and keeps accurate the results on new individuals without a manual adaptation or training. © Springer-Verlag Berlin Heidelberg 2010.