NDLI: Driver head pose and gaze estimation based on multi-template ICP 3-D point cloud alignment

Content Provider	IEEE Xplore Digital Library
Author	Bar, T. Reuter, J.F. Zollner, J.M.
Copyright Year	2012
Description	Author affiliation: Intelligent Systems and Production Engineering (ISPE), FZI Forschungszentrum Informatik, Haid-und-Neu-Str. 10-14, 76131 Karlsruhe, Germany (Bar, T.; Reuter, J.F.; Zollner, J.M.)
Abstract	Head movements, combined with the line of gaze, play a fundamental role in predicting the driver's actions and in inferring his intention. However, a gaze tracking system for automotive applications needs to satisfy high demands: It must not disturb the driver in his freedom of movements, it must cover large and fast head turns in yaw and pitch, be resistant to changing illumination conditions, be fast enough to recognize fast mirror checks, which are performed almost exclusively through eye rather than head movements, and be accurate and reliable enough to derive high quality information for driver assistance systems relying on their output. In this work a multi-template, ICP-based gaze tracking system is introduced. The system determines the head pose and subsequently estimates the driver's line of gaze by analyzing the angles of the eyes. Due to a fast search of correspondences, and switching between point-to-point and point-to-plane alignment, real-time performance and high accuracy can be achieved. The system is compared with other state of the art head pose estimation systems based on a publicly available benchmark database, where a classification rate of 92% at a tolerance of 10 degrees in yaw could be achieved. We further show in the experiments section, that head rotations up to 4 radians per seconds can be handled. Taking the angles of the eyes into account, rather than the head pose only, the driver's line of sight could be successfully mapped to particular regions of interest.
Starting Page	1797
Ending Page	1802
File Size	615517
Page Count	6
File Format	PDF
ISBN	9781467330640
ISSN	21530009
e-ISBN	9781467330633
e-ISBN	9781467330626
DOI	10.1109/ITSC.2012.6338678
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-09-16
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Face Vehicles Accuracy Iterative closest point algorithm Cameras Estimation
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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