NDLI: Robust Model-Based 3D Torso Pose Estimation in RGB-D Sequences

Content Provider	IEEE Xplore Digital Library
Author	Sigalas, M. Pateraki, M. Oikonomidis, I. Trahanias, P.
Copyright Year	2013
Description	Author affiliation: Inst. of Comput. Sci., Found. for Res. & Technol. Hellas (FORTH), Heraklion, Greece (Sigalas, M.; Pateraki, M.; Oikonomidis, I.; Trahanias, P.)
Abstract	Free-form Human Robot Interaction (HRI) in naturalistic environments remains a challenging computer vision task. In this context, the extraction of human-body pose information is of utmost importance. Although the emergence of real-time depth cameras greatly facilitated this task, issues which limit the performance of existing methods in relevant HRI applications still exist. Applicability of current state-of-the art approaches is constrained by their inherent requirement of an initialization phase prior to deriving body pose information, which in complex, realistic scenarios, is often hard, if not impossible. In this work we present a data-driven model-based method for 3D torso pose estimation from RGB-D image sequences, eliminating the requirement of an initialization phase. The detected face of the user steers the initiation of shoulder areas hypotheses, based on illumination, scale and pose invariant features on the RGB silhouette. Depth point cloud information is subsequently utilized to approximate the shoulder joints and model the human torso based on a set of 3D geometric primitives and the estimation of the 3D torso pose is derived via a global optimization scheme. Experimental results in various environments, as well as using ground truth data and comparing to OpenNI User generator middleware results, validate the effectiveness of the proposed method.
Starting Page	315
Ending Page	322
File Size	3423947
Page Count	8
File Format	PDF
ISBN	9781479930227
DOI	10.1109/ICCVW.2013.49
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-02
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Torso Upper body pose recovery Three-dimensional displays Shoulder Robustness Human robot interaction Face Joints Ellipsoids RGBD / model-based torso tracking
Content Type	Text
Resource Type	Article

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