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.