3D real-time head tracking fusing color histograms and stereovision

Conference Article


International Conference on Pattern Recognition (ICPR)





Doc link


Download the digital copy of the doc pdf document


A system that performs the tracking of a human head in 3D in real time is presented. The head shape is modeled by an ellipse with a trained color histogram of skin and hair samples. The color histogram is dynamically updated based on incoming image data in order to accommodate for varying illumination conditions. On the other hand, the size of the searched ellipse projected on the image is scaled depending on the depth information gathered from stereo vision. The strength of our method resides on the use of a predictive filter to fuse color and depth information, iteratively refining the location of the head in 3D and the parameters of the head color histogram.


computer vision, object detection.

Author keywords

data fusion, depth from stereo, color histograms, tracking, deformable contours, color adaption, particle filters

Scientific reference

F. Moreno-Noguer, A. Tarrida, J. Andrade-Cetto and A. Sanfeliu. 3D real-time head tracking fusing color histograms and stereovision, 16th International Conference on Pattern Recognition, 2002, Quebec, Canadà, pp. 368-371, 2002, IEEE.