Martin Haker

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We describe a technique for estimating human pose from an image sequence captured by a time-of-flight camera. The pose estimation is derived from a simple model of the human body that we fit to the data in 3D space. The model is represented by a graph consisting of 44 vertices for the upper torso, head, and arms. The anatomy of these body parts is encoded(More)
We describe a technique for improving the accuracy of range maps measured by time-of-flight (TOF) cameras. The technique is based on the observation that the range map and intensity image measured by a TOF camera are not independent but are linked by the shading constraint: If the reflectance properties of the surface are known, a certain range map implies(More)
We adapt the well-known face detection algorithm of Viola and Jones [1] to work on the range and intensity data from a time-offlight camera. The detector trained on the combined data has a higher detection rate (95.3%) than detectors trained on either type of data alone (intensity: 93.8%, range: 91.2%). Additionally, the combined detector uses fewer image(More)
This paper presents a very simple feature-based nose detector in combined range and amplitude data obtained by a 3D time-of-flight camera. The robust localization of image attributes, such as the nose, can be used for accurate object tracking. We use geometric features that are related to the intrinsic dimensionality of surfaces. To find a nose in the(More)
We use a novel type of sensor, the time-of-flight (TOF) camera, to implement simple and robust gesture recognition. The TOF camera [1] provides a range map that is perfectly registered with an intensity image at 20 frames per second or more, depending on the integration time. The camera works by emitting infrared light and measuring the time taken by the(More)
We describe a technique for computing scale-invariant features on range maps produced by a range sensor, such as a time-of-flight camera. Scale invariance is achieved by computing the features on the reconstructed three-dimensional surface of the object. The technique is general and can be applied to a wide range of operators. Features are computed in the(More)
We describe a facial feature tracker based on the combined range and amplitude data provided by a 3D time-of-flight camera. We use this tracker to implement a head mouse, an alternative input device for people who have limited use of their hands. The facial feature tracker is based on geometric features that are related to the intrinsic dimensionality of(More)
We present a facial feature detector for time-of-flight (TOF) cameras that extends previous work by combining a nose detector based on geometric features with a face detector. The goal is to prevent false detections outside the area of the face. To detect the nose in the image, we first compute the geometric features per pixel. We then augment these(More)