On-line Evolutionary Head Pose Measurement by Feedforward Stereo Model Matching
Wei Song, Mamoru Minami, Yasushi Mae, Seiji Aoyagi · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · 2007
This paper presents a method to estimate the 3D pose of a human's head using two images input from stereo cameras. The proposed method utilizes an evolutionary search technique of genetic algorithm (GA) and a fitness evaluation based on a stereo model matching. To improve the dynamics of recognition, a motion-feedforward method is proposed for the hand-eye system. The effectiveness of the method is confirmed by the experiments where the motion of the hand-eye camera compensated for the relative motion of the object in camera frame, resulting robust recognition against the hand-eye motion.