A new head pose tracking method based on stereo visual SLAM |
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| Affiliation: | 1. Guangdong Provincial Key Laboratory of Quantum Engineering and Quantum Materials, School of Physics and Telecommunication Engineering, South China Normal University, Guangzhou 510006, China;2. Guangdong-Hong Kong Joint Laboratory of Quantum Matter, South China Normal University, Guangzhou 510006, China;3. Guangdong Provincial Engineering Research Center for Optoelectronic Instrument, South China Normal University, Guangzhou 510006, China;4. SCNU Qingyuan Institute of Science and Technology Innovation, Qingyuan 511517, China;1. Digital Media Technology Lab, Faculty of Computing, Engineering and the Built Environment, Birmingham City University, United Kingdom;2. Department of Computer Science and Engineering, Kyung Hee University, South Korea;3. School of Technology, Environments & Design, University of Tasmania, Australia;1. College of Software Engineering, Xinjiang University, Urumqi 830000, China;2. College of Information Science and Engineering, Xinjiang University, China;3. College of Computer Science, Chengdu University, Sichuan, Chengdu 610106, China |
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| Abstract: | Real-time and reliable head pose tracking is the basis of human–computer interaction and face analysis applications. Aiming at the problems of accuracy and real time performance in current tracking method, a new head pose tracking method based on stereo visual SLAM is proposed in this paper. The sparse head map is constructed based on ORB feature points extraction and stereo matching, then the 3D-2D matching relations between 3D mappoints and 2D feature points are obtained by projection matching. Finally, the camera pose solved by the Bundle Adjustment is converted to head pose, which realizes the tracking of head pose. The experimental results show that this method can obtain high precise head pose. The mean errors of three Euler angles are all less than 1°. Therefore, the proposed head pose tracking method can track and estimate precise head pose in real time under smooth background. |
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| Keywords: | Head pose tracking Stereo visual SLAM Bundle adjustment |
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