Joint probabilistic pedestrian head and body orientation estimation

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

26 Citations (Scopus)


We present an approach for the joint probabilistic estimation of pedestrian head and body orientation in the context of intelligent vehicles. For both, head and body, we convert the output of a set of orientation-specific detectors into a full (continuous) probability density function. The parts are localized with a pictorial structure approach which balances part-based detector output with spatial constraints. Head and body orientation estimates are furthermore coupled probabilistically to account for anatomical constraints. Finally, the coupled single-frame orientation estimates are integrated over time by particle filtering. The experiments involve 37 pedestrian tracks obtained from an external stereo vision-based pedestrian detector in realistic traffic settings. We show that the proposed joint probabilistic orientation estimation approach reduces the mean head and body orientation error by 10 degrees and more.

Original languageEnglish
Title of host publication2014 IEEE Intelligent Vehicles Symposium, IV 2004 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Print)9781479936380
Publication statusPublished - 1 Jan 2014
Externally publishedYes
Event25th IEEE Intelligent Vehicles Symposium, IV 2014 - Dearborn, MI, United States
Duration: 8 Jun 201411 Jun 2014


Conference25th IEEE Intelligent Vehicles Symposium, IV 2014
Country/TerritoryUnited States
CityDearborn, MI


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