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Head Pose Estimation Using Multilinear Subspace Analysis for Robot Human AwarenessMobile robots, operating in unconstrained indoor and outdoor environments, would benefit in many ways from perception of the human awareness around them. Knowledge of people's head pose and gaze directions would enable the robot to deduce which people are aware of the its presence, and to predict future motions of the people for better path planning. To make such inferences, requires estimating head pose on facial images that are combination of multiple varying factors, such as identity, appearance, head pose, and illumination. By applying multilinear algebra, the algebra of higher-order tensors, we can separate these factors and estimate head pose regardless of subject's identity or image conditions. Furthermore, we can automatically handle uncertainty in the size of the face and its location. We demonstrate a pipeline of on-the-move detection of pedestrians with a robot stereo vision system, segmentation of the head, and head pose estimation in cluttered urban street scenes.
Document ID
20150008449
Document Type
Conference Paper
External Source(s)
Authors
Ivanov, Tonislav (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Matthies, Larry (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Vasilescu, M. Alex O. (Stony Brook Univ. Stony Brook, NY, United States)
Date Acquired
May 19, 2015
Publication Date
September 27, 2009
Subject Category
Numerical Analysis
Cybernetics, Artificial Intelligence and Robotics
Meeting Information
2009 IEEE International Conference on Computer Vision Workshops (ICCV Workshops)(Kyoto)
Distribution Limits
Public
Copyright
Other