1Institute of Automation,Chinese Academy of Sciences,Beijing 100190 2Department of Criminal Science and Technology,People′s Public Security University of China,Beijing 100038
Abstract：Lots of head pose estimation methods have been presented,while there is not any survey that systematically summarizes the existing methods. To address this problem,detailed description of head pose estimation is firstly presented to define what head pose estimation is and how to describe it. Then,the existing head pose estimation methods are categorized according to the data source used by the methods,the automation of the methods and the principle of the methods. Furthermore,the principle and data source are taken as the main line and auxiliary line respectively to detailedly review and analyze the existing head pose estimation methods.
[1] Valenti R,Sebe N,Gevers T. Combining Head Pose and Eye Location Information for Gaze Estimation. IEEE Trans on Image Processing,2012,21(2): 802-815 [2] Murphy-Chutorian E,Trivedi M M. Head Pose Estimation in Computer Vision: A Survey. IEEE Trans on Pattern Analysis and Machine Intelligence,2009,31(4): 607-626 [3] Kuipers J B. Quaternions and Rotation Sequences: A Primer with Applications to Orbits,Aerospace and Virtual Reality. Princeton,USA: Princeton University Press,2002 [4] Deymer D J. Face Recognition under Varying Pose // Proc of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition. Seattle,USA,1994: 756-761 [5] Ng J,Gong S. Composite Support Vector Machines for Detection of Faces across Views and Pose Estimation. Image and Vision Computing,2002,20(5/6): 359-368 [6] Ng J,Gong S. Multi-View Face Detection and Pose Estimation Using a Composite Support Vector Machine across the View Sphere // Proc of the International Workshop on Recognition,Analysis,and Tracking of Faces and Gestures in Real-Time Systems. Corfu,Greece,1999: 14-21 [7] Sherrah J,Gong S,Ong E J. Understanding Pose Discrimination in Similarity Space // Proc of the 10th British Machine Vision Conference. Nottingham,UK,1999: 523-532 [8] Sherrah J,Gong S,Ong E J. Face Distributions in Similarity Space under Varying Head Pose. Image and Vision Computing,2001,19(12): 807-819 [9] Breitenstein M D,Kuettel D,Weise T, et al. Real-Time Face Pose Estimation from Single Range Images. // Proc of the IEEE Conference on Computer Vision and Pattern Recognition. Anchorage,USA,2008. DOI:10.1109/CVPR. 2008.4587807 [10] Padeleris P,Zabulis X,Argyros A A. Head Pose Estimation on Depth Data Based on Particle Swarm Optimization // Proc of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops. Providence,USA,2012: 42-49 [11] Malassiotis S,Strintzis M G. Robust Real-Time 3D Head Pose Estimation from Range Data. Pattern Recognition,2005,38(8): 1153-1165 [12] Fanelli G,Gall J,Van Gool L. Real Time Head Pose Estimation with Random Regression Forests // Proc of the IEEE Conference on Computer Vision and Pattern Recognition. Colorado Springs,USA,2011: 617-624 [13] Fanelli G,Weise T,Gall J,et al. Real Time Head Pose Estimation from Consumer Depth Cameras // Proc of the 33rd DAGM Symposium. Frankfurt,Germany,2011: 101-110 [14] Fanelli G,Dantone M,Gall J,et al. Random Forests for Real Time 3D Face Analysis. International Journal of Computer Vision,2013,101(3): 437-458 [15] Tang Y Q,Sun Z N,Tan T N. Face Pose Estimation Based on Integral Slice Features of Single Depth Images // Proc of the 1st Asian Conference on Pattern Recognition. Beijing,China,2011: 530-534 [16] Tang Y Q,Sun Z N,Tan T N. Real-Time Head Pose Estimation Using Random Regression Forests // Proc of the 6th Chinese Conference on Biometric Recognition. Beijing,China,2011: 66-73 [17] Seemann E,Nickel K,Stiefelhagen R. Head Pose Estimation Using Stereo Vision for Human-Robot Interaction // Proc of the 6th IEEE International Conference on Automatic Face and Gesture Recognition. Seoul,Republic of Korea,2004: 626-631 [18] Wu J W,Trivedi M M. A Two-Stage Head Pose Estimation Framework and Evaluation. Pattern Recognition,2008,41(3): 1138-1158 [19] Gurbuz S,Oztop E,Inoue N. Model Free Head Pose Estimation Using Stereovision. Pattern Recognition,2012,45(1): 33-42 [20] Rowley H A,Baluja S,Kanade T. Rotation Invariant Neural Network-Based Face Detection // Proc of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition. Santa Barbara,USA,1998: 38-44 [21] Wilson H R,Wilkinson F,Lin L M,et al. Perception of Head Orientation. Vision Research,2000,40(5): 459-472 [22] Gee A,Cipolla R. Determining the Gaze of Faces in Images. Image and Vision Computing,1994,12(10): 639-647 [23] Horprasert T,Yacoob Y,Davis L S. Computing 3D Head Orientation from a Monocular Image Sequence // Proc of the 2nd International Conference on Automatic Face and Gesture Recognition. Killington,USA,1996: 242-247 [24] Wang J G,Sung E. EM Enhancement of 3D Head Pose Estimated by Point at Infinity. Image and Vision Computing,2007,25(12):1864-1874 [25] Huang J,Shao X H,Wechsler H. Face Pose Discrimination Using Support Vector Machines // Proc of the 14th International Conference on Pattern Recognition. Brisbane,Australia,1998: 154-156 [26] Cordea M D,Petriu E M,Georganos N D,et al. Real-Time 2(1/2)-D Head Pose Recovery for Model-Based Video-Coding. IEEE Trans on Instrumentation and Measurement,2001,50(4): 1007-1013 [27] Nikolaidis A,Pitas I. Facial Feature Extraction and Pose Determination. Pattern Recognition,2000,33(11): 1783-1791 [28] Liang X N,Tong W Q. Face Pose Estimation Using Near-Infrared Images // Proc of the International Conference on Communication Systems and Network Technologies. Rajkot,India,2012: 216-220 [29] Zhu Z W,Ji Q. Robust Real-Time Face Pose and Facial Expression Recovery // Proc of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition. New York,USA,2006: 681-688 [30] Xu T,Wang C,Wang Y H,et al. Saliency Model Based Head Pose Estimation by Sparse Optical Flow // Proc of the 1st Asian Conference on Pattern Recognition. Beijing,China,2011: 575-579 [31] Tong Y,Wang Y,Zhu Z W,et al. Robust Facial Feature Tracking under Varying Face Pose and Facial Expression. Pattern Recognition,2007,40(11): 3195-3208 [32] Morency L P,Whitehill J,Movellan J. Monocular Head Pose Estimation Using Generalized Adaptive View-Based Appearance Model. Image and Vision Computing,2010,28(5): 754-761 [33] Li Y G,Gong S,Liddell H. Support Vector Regression and Classification Based Multi-View Face Detection and Recognition // Proc of the 4th IEEE International Conference on Automatic Face and Gesture Recognition. Grenoble,France,2000: 300-305 [34] Li Y M,Gong S,Sherrah J,et al. Support Vector Machine Based Multiview Face Detection and Recognition. Image and Vision Computing,2004,22(5): 413-427 [35] Murphy-Chutorian E,Doshi A,Trivedi M M. Head Pose Estimation for Driver Assistance Systems: A Robust Algorithm and Experimental Evaluation // Proc of the IEEE Conference on Intelligent Transportation Systems. Seattle,USA,2007: 709-714 [36] Murphy-Chutorian E,Trivedi M M. Head Pose Estimation and Augmented Reality Tracking: An Integrated System and Evaluation for Monitoring Driver Awareness. IEEE Trans on Intelligent Transportation Systems,2010,11(2): 300-311 [37] Ho H T,Chellappa R. Automatic Head Pose Estimation Using Randomly Projected Dense SIFT Descriptors // Proc of the IEEE International Conference on Image Processing. Orlando,USA,2012: 153-156 [38] Chen C,Schonfeld D. A Particle Filtering Framework for Joint Video Tracking and Pose Estimation. IEEE Trans on Image Processing,2010,19(6): 1625-1634 [39] Ma B P,Chai X J,Wang T J. A Novel Feature Descriptor Based on Biologically Inspired Feature for Head Pose Estimation. Neurocomputing,2013,115(4): 1-10 [40] Dong L G,Tao L M,Xu G Y. Head Pose Estimation Based on a Second Order Histogram of the Orientation Gradient. Journal of Tsinghua University: Science & Technology,2011,51(1): 73-79 (in Chinese) (董力赓,陶霖密,徐光祐.基于二阶梯度朝向直方图特征的头部姿态估计.清华大学学报:自然科学版,2011,51(1): 73-79) [41] Ma B P,Shan S G,Chen X L,et al. Robust Appearance-Based Method for Head Pose Estimation. Journal of Software,2009,20(6): 1651-1663 (in Chinese) (马丙鹏,山世光,陈熙霖,等.一种基于图像表观的鲁棒姿态估计方法.软件学报,2009,20(6): 1651-1663) [42] Huang C,Ding X Q,Fang C. Head Pose Estimation Based on Random Forests for Multiclass Classification // Proc of the 20th International Conference on Pattern Recognition. Istanbul,Turkey,2010: 934-937 [43] Li Y L,Wang S G,Ding X Q. Person-Independent Head Pose Estimation Based on Random Forest Regression // Proc of the 17th IEEE International Conference on Image Processing. Hong Kong,China,2010: 1521-1524 [44] Haj M A,Gonzalez J,Davis L S. On Partial Least Squares in Head Pose Estimation: How to Simultaneously Deal with Misalignment // Proc of the IEEE Conference on Computer Vision and Pattern Recognition. Providence,USA,2012: 2602-2609 [45] Shan C F,Chen W. Head Pose Estimation Using Spectral Regression Discriminant Analysis // Proc of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition. Miami,USA,2009: 116-123 [46] Chen L,Zhang L,Hu Y X,et al. Head Pose Estimation Using Fisher Manifold Learning // Proc of the International Workshop on Analysis and Modeling of Faces and Gesture. Nice,France,2003: 203-207 [47] Raytchev B,Yoda I,Sakaue K. Head Pose Estimation by Nonlinear Manifold Learning // Proc of the 17th International Conference on Pattern Recognition. Tsukuba,Japan,2004,IV: 462-466 [48] Ben Abdelkader C. Robust Head Pose Estimation Using Supervised Manifold Learning // Proc of the 11th European Conference on Computer Vision. Heraklion,Greece,2010: 518-531 [49] Foytik J,Asari V K. A Two-Layer Framework for Piecewise Linear Manifold-Based Head Pose Estimation. International Journal of Computer Vision,2013,101(2): 270-287 [50] Lu J W,Tan Y P. Ordinary Preserving Manifold Analysis for Human Age and Head Pose Estimation. IEEE Trans on Human-Machine Systems,2013,43(2): 249-258 [51] Huang D,Storer M,de la Torre F,et al. Supervised Local Subspace Learning for Continuous Head Pose Estimation // Proc of the IEEE Computer Vision and Pattern Recognition. Colorado Springs,USA,2011: 2921-2928 [52] Liu X Y,Lu H T,Zhang D Q. Head Pose Estimation Based on Manifold Embedding and Distance Metric Learning // Proc of the 9th Asian Conference on Computer Vision. Xi′an,China,2009: 61-70 [53] Fan J F,Chen D S. Combining Manifold Learning and Nonlinear Regression for Head Pose Estimation. Journal of Image and Graphics,2012,17(8): 1002-1010 (in Chinese) (范进富,陈锻生.流形学习与非线性回归结合的头部姿态估计.中国图象图形学报,2012,17(8): 1002-1010) [54] Wang X W,Huang X Y,Gao J Z,et al. Illumination and Person-Insensitive Head Pose Estimation Using Distance Metric Learning // Proc of the 10th European Conference on Computer Vision. Marseille,France,2008: 624-637 [55] Baltrusaitis T,Robinson P,Morency L. 3D Constrained Local Model for Rigid and Non-Rigid Facial Tracking // Proc of the IEEE Conference on Computer Vision and Pattern Recognition. Providence,USA,2012: 2610-2617 [56] Zhu X X,Ramanan D. Face Detection,Pose Estimation,and Landmark Localization in the Wild // Proc of the IEEE Conference on Computer Vision and Pattern Recognition. Providence,USA,2012: 2879-2886 [57] Viola P,Jones M. Rapid Object Detection Using a Boosted Cascade of Simple Features // Proc of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition. Kauai,USA,2001: 511-518 [58] Belhumeur P N,Jacobs D W,Kriegman D J,et al. Localizing Parts of Faces Using A Consensus of Exemplars // Proc of the IEEE Conference on Computer Vision and Pattern Recognition. Colordo Springs,USA,2011: 545-552 [59] Belhumeur P N. Jacobs D W,Kriegman D J,et al. Localizing Parts of Faces Using a Consensus of Exemplars. IEEE Trans on Pattern Analysis and Machine Intelligence,2013,35(12): 2930-2940
2014, Vol. 27 
