Driver pose estimation with 3D Time-of-Flight sensor

In this paper we tackle the problem of vision-based driver pose estimation, i.e. estimating the location and orientation of the driver´s limbs, including arms, hands, head and torso from visual information. In our approach, visual information consists of depth and intensity images provided by an infrared time-of-flight (TOF) camera. For pose estimation we propose a variant of the articulated ICP algorithm, a 3D model fitting approach, which is able to incorporate the uncertainty in visual observation and model data in the pose estimation framework.