Stereovision-based object segmentation for automotive applications
EURASIP Journal on Applied Signal Processing
Face Detection Using a Time-of-Flight Camera
Dyn3D '09 Proceedings of the DAGM 2009 Workshop on Dynamic 3D Imaging
Using depth information to improve face detection
Proceedings of the 6th international conference on Human-robot interaction
Face segmentation using skin-color map in videophone applications
IEEE Transactions on Circuits and Systems for Video Technology
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Head pose is one of the important human cues in social navigation planning for robots to coexist with humans. Inferring such information from distant targets using a mobile platform is a challenging task. This paper tackles this issue to propose a method for detecting and tracking head pose with the mentioned constraints using RGBD camera (Kinect, Microsoft). Initially possible human regions are segmented out then validated by using depth and Hu moment features. Next, plausible head regions within the segmented areas are estimated by employing Haar-like features with the Adaboost classifier. Finally, the obtained head regions are post-validated by means of their dimension and their probability of containing skin before refining the pose estimation and tracking by a boosted-based particle filter. Experimental results demonstrate the feasibility of the proposed approach for detecting and tracking head pose from far range targets under spot-light and natural illumination conditions.