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head-pose-estimation-adas-0001

Use Case and High-Level Description

Head pose estimation network based on simple, handmade CNN architecture. Angle regression layers are convolutions + ReLU + batch norm + fully connected with one output.

The estimator outputs yaw pitch and roll angles measured in degrees. Suppose the following coordinate system:

  • OX points from face center to camera
  • OY points from face center to right
  • OZ points from face center to up

The predicted angles show how the face is rotated according to a rotation matrix:

Yaw - counterclockwise Pitch - counterclockwise Roll - clockwise
    [cosY -sinY 0]          [ cosP 0 sinP]       [1    0    0 ]   [cosY*cosP cosY*sinP*sinR-sinY*cosR cosY*sinP*cosR+sinY*sinR]
    [sinY  cosY 0]    *     [  0   1  0  ]   *   [0  cosR sinR] = [sinY*cosP cosY*cosR-sinY*sinP*sinR sinY*sinP*cosR+cosY*sinR]
    [  0    0   1]          [-sinP 0 cosP]       [0 -sinR cosR]   [  -sinP          -cosP*sinR                cosP*cosR       ]

Validation Dataset

Biwi Kinect Head Pose Database

Example

Specification

Metric Value
Supported ranges YAW [-90,90], PITCH [-70,70], ROLL [-70,70]
GFlops 0.105
MParams 1.911
Source framework Caffe*

Accuracy

Angle Mean ± standard deviation of absolute error
yaw 5.4 ± 4.4
pitch 5.5 ± 5.3
roll 4.6 ± 5.6

Inputs

Image, name: data, shape: 1, 3, 60, 60 in 1, C, H, W format, where:

  • C - number of channels
  • H - image height
  • W - image width

Expected color order is BGR.

Outputs

Each output contains one float value that represents value in Tait-Bryan angles (yaw, pitch or roll).

  1. name: fc_y, shape: 1, 1 - Estimated yaw (in degrees).
  2. name: fc_p, shape: 1, 1 - Estimated pitch (in degrees).
  3. name: fc_r, shape: 1, 1 - Estimated roll (in degrees).

Demo usage

The model can be used in the following demos provided by the Open Model Zoo to show its capabilities:

Legal Information

[*] Other names and brands may be claimed as the property of others.