We present a probabilistic framework for the joint estimation of pedestrian head and body orientation from a mobile stereo vision platform. For both head and body parts, we convert the responses of a set of orientation-specific detectors into a (continuous) probability density function. The parts are localized by means of a pictorial structure approach, which balances part-based detector responses with spatial constraints. Head and body orientations are estimated jointly to account for anatomical constraints. The joint single-frame orientation estimates are integrated over time by particle filtering. The experiments involved data from a vehicle-mounted stereo vision camera in a realistic traffic setting; 65 pedestrian tracks were supplied by a state-of-the-art pedestrian tracker. We show that the proposed joint probabilistic orientation estimation framework reduces the mean absolute head and body orientation error up to 15° compared with simpler methods. This results in a mean absolute head/body orientation error of about 21°/19°, which remains fairly constant up to a distance of 25 m. Our system currently runs in near real time (8-9 Hz).
|Number of pages||11|
|Journal||IEEE Transactions on Intelligent Transportation Systems|
|Publication status||Published - 1 Aug 2015|
- Active pedestrian safety
- computer vision
- pose estimation
- social robotics