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 Jacques Blanc-Talon · Rudi Penne
Wilfried Philips · Dan Popescu
Paul Scheunders (Eds.)

Advanced Concepts
LNCS 10617

for Intelligent
Vision Systems
18th International Conference, ACIVS 2017
Antwerp, Belgium, September 18–21, 2017
Proceedings

123
Lecture Notes in Computer Science 10617
Commenced Publication in 1973
Founding and Former Series Editors:
Gerhard Goos, Juris Hartmanis, and Jan van Leeuwen

Editorial Board
David Hutchison
Lancaster University, Lancaster, UK
Takeo Kanade
Carnegie Mellon University, Pittsburgh, PA, USA
Josef Kittler
University of Surrey, Guildford, UK
Jon M. Kleinberg
Cornell University, Ithaca, NY, USA
Friedemann Mattern
ETH Zurich, Zurich, Switzerland
John C. Mitchell
Stanford University, Stanford, CA, USA
Moni Naor
Weizmann Institute of Science, Rehovot, Israel
C. Pandu Rangan
Indian Institute of Technology, Madras, India
Bernhard Steffen
TU Dortmund University, Dortmund, Germany
Demetri Terzopoulos
University of California, Los Angeles, CA, USA
Doug Tygar
University of California, Berkeley, CA, USA
Gerhard Weikum
Max Planck Institute for Informatics, Saarbrücken, Germany
More information about this series at http://www.springer.com/series/7412
Jacques Blanc-Talon Rudi Penne
•

Wilfried Philips Dan Popescu

•

Paul Scheunders (Eds.)

Advanced Concepts
for Intelligent
Vision Systems
18th International Conference, ACIVS 2017
Antwerp, Belgium, September 18–21, 2017
Proceedings

123
Editors
Jacques Blanc-Talon Dan Popescu
DGA CSIRO Data 61
Paris Canberra, ACT
France Australia
Rudi Penne Paul Scheunders
University of Antwerp University of Antwerp
Antwerp Wilrijk
Belgium Belgium
Wilfried Philips
Ghent University - imec
Ghent
Belgium

ISSN 0302-9743 ISSN 1611-3349 (electronic)

Lecture Notes in Computer Science
ISBN 978-3-319-70352-7 ISBN 978-3-319-70353-4 (eBook)
https://doi.org/10.1007/978-3-319-70353-4

Library of Congress Control Number: 2017959602

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 Preface

These proceedings gather the selected papers of the Advanced Concepts for Intelligent
Vision Systems (ACIVS) conference, which was held in Antwerp, Belgium, during
September 18–21, 2017.
This event was the 18th ACIVS. Since the first event in Germany in 1999, ACIVS
has become a larger and independent scientific conference. However, the seminal
distinctive governance rules have been maintained:
– To update the conference scope on a yearly basis. While keeping a technical
backbone (the classic low-level image processing techniques), we have introduced
topics of interest such as – chronologically – image and video compression, 3D,
security and forensics, and evaluation methodologies, in order to fit the conference
scope to our scientific community’s needs. In addition, speakers usually give invited
talks on hot issues.
– To remain a single-track conference in order to promote scientific exchanges among
the audience.
– To grant oral presentations a duration of 25 minutes and published papers a length
of 12 pages, which is significantly different from most other conferences.
The second and third items entail a complex management of the conference; in
particular, the number of time slots is rather small. Although the selection between the
two presentation formats is primarily determined by the need to compose a well-
balanced program, papers presented during plenary and poster sessions enjoy the same
importance and publication format.
The first item is strengthened by the notoriety of ACIVS, which has been growing
over the years: Official Springer records show a cumulated number of downloads on
August 1, 2017, of more than 550,000 (for ACIVS 2005–2016 only).
The regular sessions also included a couple of invited talks by Professor
Antonis Argyros (University of Crete), Professor Daniel Cremers (Technische
Universität München), and Professor Sanja Fidler (University of Toronto). We would
like to thank all of them for enhancing the technical program with their presentations.
ACIVS attracted submissions from many different countries, mostly from Europe,
but also from the rest of the world: Algeria, Australia, Austria, Brazil, Belgium,
Canada, China, Cyprus, Czech Republic, Denmark, Ecuador, France, Finland,
Germany, Hungary, India, Israel, Italy, Japan, Korea, Mexico, The Netherlands,
Poland, Romania, Russia, Switzerland, Taiwan, Tunisia, Turkey, the Ukraine, United
Arab Emirates, the UK, and the USA.
From 134 submissions, 38 were selected for oral presentation and 25 as posters. The
paper submission and review procedure was carried out electronically and a minimum
of three reviewers were assigned to each paper. A large and energetic Program
Committee (67 people), helped by additional reviewers (86 people in total), as listed on
the following pages, completed the long and demanding reviewing process. We would
VI Preface

like to thank all of them for their timely and high-quality reviews, achieved in quite a
short time and during the summer holidays.
Also, we would like to thank our sponsors, Antwerp University, Commonwealth
Scientific and Industrial Research Organization (CSIRO), and Ghent University, for
their valuable support.
Finally, we would like to thank all the participants who trusted in our ability to
organize this conference for the 18th time. We hope they attended a stimulating sci-
entific event and that they enjoyed the atmosphere of the various ACIVS social events
in the city of Antwerp.
As mentioned, a conference like ACIVS would not be feasible without the concerted
effort of many people and the support of various institutions. We are indebted to the
local organizers Rudi Penne and Paul Scheunders, for having smoothed all the rough
practical details of an event venue, and we hope to welcome them in the near future.

July 2017 Jacques Blanc-Talon

Rudi Penne
Wilfried Philips
Dan Popescu
Paul Scheunders
 Organization

ACIVS 2017 was organized by the University of Antwerp, Belgium.

Steering Committee
Jacques Blanc-Talon DGA, France
Rudi Penne University of Antwerp, Belgium
Wilfried Philips Ghent University - imec, Belgium
Dan Popescu CSIRO Data 61, Australia
Paul Scheunders University of Antwerp, Belgium

Organizing Committee
Rudi Penne University of Antwerp, Belgium
Paul Scheunders University of Antwerp, Belgium

Program Committee
Hojjat Adeli Ohio State University, USA
Syed Afaq Shah The University of Western Australia, Australia
Hamid Aghajan Ghent University - imec, Belgium
Fabio Bellavia Università degli Studi di Palermo, Italy
Jenny Benois-Pineau University of Bordeaux, France
Jacques Blanc-Talon DGA, France
Philippe Bolon University of Savoie, France
Egor Bondarev Technische Universiteit Eindhoven, The Netherlands
Adrian Bors University of York, UK
Salah Bourennane Ecole Centrale de Marseille, France
Catarina Brites Instituto Superior Técnico, Portugal
Vittoria Bruni University of Rome La Sapienza, Italy
Dumitru Burdescu University of Craiova, Romania
Tiago J. Carvalho Instituto Federal de São Paulo - Campinas, Brazil
Giuseppe Cattaneo University of Salerno, Italy
Jocelyn Chanussot Université de Grenoble Alpes, France
Gianluigi Ciocca University of Milano Bicocca, Italy
Eric Debreuve CNRS, France
Stéphane Derrode Ecole Centrale de Lyon, France
Véronique Eglin INSA, France
Jérôme Gilles San Diego State University, USA
Georgy Gimel’farb The University of Auckland, New Zealand
Daniele Giusto University of Cagliari, Italy
VIII Organization

Bart Goossens Ghent University - imec, Belgium

Artyom Grigoryan UTSA, USA
David Helbert University of Poitiers, France
Michael Hild Osaka Electro-Communication University, Japan
Mark Holden Kyoto University, Japan
Kazuhiro Hotta Meijo University, Japan
Dimitris Iakovidis University of Thessaly, Greece
Syed Islam Edith Cowan University, Australia
Yuji Iwahori Chubu University, Japan
Arto Kaarna Lappeenranta University of Technology, Finland
Céline Loscos Université de Reims Champagne-Ardenne, France
Ludovic Macaire Université Lille 1 Sciences et Technologies, France
Gonzalo Pajares Martinsanz Universidad Complutense, Spain
Fabrice Mériaudeau Universiti Teknologi PETRONAS, Malaysia
Amar Mitiche INRS, Canada
Adrian Munteanu Vrije Universiteit Brussel, Belgium
António J.R. Neves University of Aveiro, Portugal
Jennifer Newman Iowa State University, USA
Fernando Pérez-González University of Vigo, Spain
Caroline Petitjean Université de Rouen, France
Aleksandra Pizurica Ghent University - imec, Belgium
Ljiljana Platisa Ghent University - imec, Belgium
Giovanni Ramponi University of Trieste, Italy
Patrice Rondao Alface Nokia Bell Labs, Belgium
Florence Rossant ISEP, France
Luis Salgado Universidad Politécnica, Spain
Carlo Sansone Università degli Studi di Napoli Federico II, Italy
Ivan Selesnick New-York University, USA
Andrzej Stefan Sluzek Khalifa University, United Arab Emirates
Ferdous Sohel Murdoch University, Australia
Luuk Spreeuwers Twente University, The Netherlands
Changming Sun CSIRO, Australia
Hugues Talbot Université Paris-Est - ESIEE, France
Attila Tanács University of Szeged, Hungary
Nadège Thirion-Moreau SeaTech - Université de Toulon, France
Giuseppe Valenzise CentraleSupelec, France
Marc Van Droogenbroeck University of Liège, Belgium
Peter Veelaert Ghent University - imec, Belgium
Sergio Velastin University Carlos III, Spain
Nicole Vincent Université Paris Descartes, France
Domenico Vitulano National Research Council, Italy
Shin Yoshizawa RIKEN, Japan
Josiane Zérubia Inria, France
Djemel Ziou Sherbrooke University, Canada
 Organization IX

Additional Reviewers
Wim Abbeloos KU Leuven, Belgium
Syed Afaq Shah The University of Western Australia, Australia
Hamid Aghajan Ghent University - imec, Belgium
Gianni Allebosch Ghent University - imec, Belgium
Yiannis Andreopoulos University College London, UK
Danilo Babin Ghent University - imec, Beglium
Fabio Bellavia Università degli Studi di Palermo, Italy
Jenny Benois-Pineau University of Bordeaux, France
Jacques Blanc-Talon DGA, France
Nyan Bo Bo Ghent University - imec, Belgium
Boris Bogaerts University of Antwerp, Belgium
Philippe Bolon University of Savoie, France
Egor Bondarev Technische Universiteit Eindhoven, The Netherlands
Adrian Bors University of York, UK
Salah Bourennane Ecole Centrale de Marseille, France
Catarina Brites Instituto Superior Técnico, Portugal
Vittoria Bruni University of Rome La Sapienza, Italy
Dumitru Burdescu University of Craiova, Romania
Tiago J. Carvalho Instituto Federal de São Paulo - Campinas, Brazil
Giuseppe Cattaneo University of Salerno, Italy
Jocelyn Chanussot Université de Grenoble Alpes, France
Gianluigi Ciocca University of Milano Bicocca, Italy
Matthew Dailey Asian Institute of Technology, Thailand
Eric Debreuve CNRS, France
Nikos Deligiannis VUB, Belgium
Stéphane Derrode Ecole Centrale de Lyon, France
Simon Donné Ghent University - imec, Belgium
Jérôme Gilles San Diego State University, USA
Georgy Gimel’farb The University of Auckland, New Zealand
Daniele Giusto University of Cagliari, Italy
Bart Goossens Ghent University - imec, Belgium
Junzhi Guan Ghent University - imec, Belgium
David Helbert University of Poitiers, France
Michael Hild Osaka Electro-Communication University, Japan
Mark Holden Kyoto University, Japan
Kazuhiro Hotta Meijo University, Japan
Dimitris Iakovidis University of Thessaly, Greece
Syed Islam Edith Cowan University, Australia
Yuji Iwahori Chubu University, Japan
Arto Kaarna Lappeenranta University of Technology, Finland
Ali Khenchaf ENSTA Bretagne, France
Marek Kraft Poznan University of Technology, Poland
Wenzhi Liao Gent University, Belgium
Céline Loscos Université de Reims Champagne-Ardenne, France
X Organization

Hiep Luong Ghent University - imec, Belgium

Ludovic Macaire Université Lille 1 Sciences et Technologies, France
Antoine Manzanera ENSTA ParisTech, France
Gonzalo Pajares Martinsanz Universidad Complutense, Spain
Fabrice Mériaudeau Universiti Teknologi PETRONAS, Malaysia
Amar Mitiche INRS, Canada
Adrian Munteanu Vrije Universiteit Brussel, Belgium
Jennifer Newman Iowa State University, USA
Rudi Penne University of Antwerp, Belgium
Fernando Pérez-González University of Vigo, Spain
Wilfried Philips Ghent University - imec, Belgium
Dan Popescu CSIRO Data 61, Australia
Giovanni Ramponi University of Trieste, Italy
Pedro Roios University of Antwerp, Belgium
Patrice Rondao Alface Nokia Bell Labs, Belgium
Florence Rossant ISEP, France
Luis Salgado Universidad Politécnica, Spain
Carlo Sansone Università degli Studi di Napoli Federico II, Italy
Paul Scheunders University of Antwerp, Belgium
Adam Schmidt Technische Universität München, Germany
Ivan Selesnick New York University, USA
Piotr Skrzypczynski Poznan University of Technology, Poland
Andrzej Stefan Sluzek Khalifa University, United Arab Emirates
Ferdous Sohel Murdoch University, Australia
Gunther Steenackers University of Antwerp, Belgium
Changming Sun CSIRO, Australia
Hugues Talbot Université Paris-Est - ESIEE, France
Attila Tanács University of Szeged, Hungary
Giuseppe Valenzise CentraleSupélec, France
Marc Van Droogenbroeck University of Liège, Belgium
David Van Hamme Ghent University - imec, Belgium
Steve Vanlanduit University of Antwerp, Belgium
Peter Veelaert Ghent University - imec, Belgium
Sergio Velastin Carlos III University, Spain
Nicole Vincent Université Paris Descartes, France
Domenico Vitulano National Research Council, Italy
Michiel Vlaminck Ghent University - imec, Belgium
Xingzhe Xie Ghent University - imec, Belgium
Toshihiko Yamasaki The University of Tokyo, Japan
Shin Yoshizawa RIKEN, Japan
Josiane Zérubia Inria, France
Djemel Ziou Sherbrooke University, Canada
 Contents

Human-Computer Interaction

A Two-Step Methodology for Human Pose Estimation Increasing

the Accuracy and Reducing the Amount of Learning Samples Dramatically . . . 3
Samir Azrour, Sébastien Piérard, Pierre Geurts,
and Marc Van Droogenbroeck

Body Related Occupancy Maps for Human Action Recognition . . . . . . . . . . 15

Sanne Roegiers, Gianni Allebosch, Peter Veelaert, and Wilfried Philips

Facial Expression Recognition Using Local Region Specific Dense

Optical Flow and LBP Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Deepak Ghimire, Sang Hyun Park, and Mi Jin Kim

Fully Automated Facial Expression Recognition Using 3D Morphable

Model and Mesh-Local Binary Pattern. . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Hela Bejaoui, Haythem Ghazouani, and Walid Barhoumi

Real Time Continuous Tracking of Dynamic Hand Gestures

on a Mobile GPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Robert Prior, David Capson, and Alexandra Branzan Albu

Multi-camera Finger Tracking and 3D Trajectory Reconstruction

for HCI Studies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Vadim Lyubanenko, Toni Kuronen, Tuomas Eerola, Lasse Lensu,
Heikki Kälviäinen, and Jukka Häkkinen

Full Screen Touch Detection for the Virtual Touch Screen . . . . . . . . . . . . . . 75

Katsuto Nakajima and Takafumi Igarashi

Classification and Recognition

Optimal Tiling Strategy for Memory Bandwidth Reduction for CNNs . . . . . . 89

Leonardo Cecconi, Sander Smets, Luca Benini, and Marian Verhelst

Statistical Radial Binary Patterns (SRBP) for Bark Texture Identification . . . . 101
Safia Boudra, Itheri Yahiaoui, and Ali Behloul

Object Tracking Using Deep Convolutional Neural Networks

and Visual Appearance Models. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Bogdan Mocanu, Ruxandra Tapu, and Titus Zaharia
XII Contents

Sensing Forest for Pattern Recognition . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

Irina Burciu, Thomas Martinetz, and Erhardt Barth

Analysis of Skeletal Shape Trajectories for Person Re-Identification . . . . . . . 138

Amani Elaoud, Walid Barhoumi, Hassen Drira,
and Ezzeddine Zagrouba

Deep Learning on Underwater Marine Object Detection: A Survey . . . . . . . . 150

Md. Moniruzzaman, Syed Mohammed Shamsul Islam,
Mohammed Bennamoun, and Paul Lavery

A Novel and Accurate Local 3D Representation for Face Recognition . . . . . . 161

Soumaya Mathlouthi, Majdi Jribi, and Faouzi Ghorbel

Human Face Detection Improvement Using Incremental Learning Based

on Low Variance Directions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Takoua Kefi, Riadh Ksantini, Mohamed Bécha Kaâniche,
and Adel Bouhoula

Multi-view Pose Estimation with Flexible Mixtures-of-Parts . . . . . . . . . . . . . 180

Emre Dogan, Gonen Eren, Christian Wolf, Eric Lombardi,
and Atilla Baskurt

Shearlet-Based Region Map Guidance for Improving Hyperspectral

Image Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Mariem Zaouali, Sonia Bouzidi, and Ezzeddine Zagrouba

Evaluation of Dimensionality Reduction Methods for Remote

Sensing Images Using Classification and 3D Visualization . . . . . . . . . . . . . . 203
Andreea Griparis, Daniela Faur, and Mihai Datcu

Towards Condition Analysis for Machine Vision Based Traffic

Sign Inventory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Petri Hienonen, Lasse Lensu, Markus Melander,
and Heikki Kälviäinen

Learning Siamese Features for Finger Spelling Recognition . . . . . . . . . . . . . 225

Bogdan Kwolek and Shinji Sako

AMD Classification in Choroidal OCT Using Hierarchical

Texton Mining . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Dafydd Ravenscroft, Jingjing Deng, Xianghua Xie, Louise Terry,
Tom H. Margrain, Rachel V. North, and Ashley Wood

Prostate Size Inference from Abdominal Ultrasound Images

with Patch Based Prior Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
Nur Banu Albayrak, Emrah Yildirim, and Yusuf Sinan Akgul
 Contents XIII

Navigation, Mapping, Robotics and Transports

Omnidirectional Localization in vSLAM with Uncertainty Propagation

and Bayesian Regression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
David Valiente, Óscar Reinoso, Arturo Gil, Luis Payá,
and Mónica Ballesta

Visual Localization Based on Place Recognition Using Multi-feature

Combination (D-kLBP++HOG). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
Yongliang Qiao, Cindy Cappelle, Tao Yang, and Yassine Ruichek

Homography-Based Navigation System for Unmanned Aerial Vehicles . . . . . 288

Abdulla Al-Kaff, Arturo de La Escalera, and José María Armingol

Robust Tracking in Weakly Dynamic Scenes . . . . . . . . . . . . . . . . . . . . . . . 301

Trevor Gee, Rui Gong, Patrice Delmas, and Georgy Gimel’farb

Texturizing and Refinement of 3D City Models with Mobile Devices . . . . . . 313

Ralf Gutbell, Hannes Kuehnel, and Arjan Kuijper

Image Classification for Ground Traversability Estimation in Robotics. . . . . . 325

R. Omar Chavez-Garcia, Jérôme Guzzi, Luca M. Gambardella,
and Alessandro Giusti

InSAR Coherence-Dependent Fuzzy C-Means Flood Mapping

Using Particle Swarm Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
Chayma Chaabani and Riadh Abdelfattah

Monitoring and Evaluation of Flooded Areas Based on Fused Texture

Descriptors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
Loretta Ichim and Dan Popescu

Video Processing and Retrieval

Anomaly Detection in Crowded Scenarios Using Local

and Global Gaussian Mixture Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363
Adrián Tomé and Luis Salgado

JND-Guided Perceptual Pre-filtering for HEVC Compression

of UHDTV Video Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
Eloïse Vidal, François-Xavier Coudoux, Patrick Corlay,
and Christine Guillemot

Visual versus Textual Embedding for Video Retrieval . . . . . . . . . . . . . . . . . 386

Danny Francis, Paul Pidou, Bernard Merialdo, and Benoît Huet

Handling Noisy Labels in Gaze-Based CBIR System. . . . . . . . . . . . . . . . . . 396

Stéphanie Lopez, Arnaud Revel, Diane Lingrand, and Frédéric Precioso
XIV Contents

Extracting Relevant Features from Videos for a Robust Smoke Detection. . . . 406
Olfa Besbes and Amel Benazza-Benyahia

Images Annotation Extension Based on User Feedback . . . . . . . . . . . . . . . . 418

Abdessalem Bouzaieni and Salvatore Tabbone

A Domain Independent Approach to Video Summarization . . . . . . . . . . . . . 431

Amanda Dash and Alexandra Branzan Albu

Is a Memoryless Motion Detection Truly Relevant for Background

Generation with LaBGen? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443
Benjamin Laugraud and Marc Van Droogenbroeck

Large-Scale Camera Network Topology Estimation by Lighting Variation . . . . 455

Michael Zhu, Anthony Dick, and Anton van den Hengel

Counting Large Flocks of Birds Using Videos Acquired

with Hand-Held Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
Amanda Dash and Alexandra Branzan Albu

Fast Ground Detection for Range Cameras on Road Surfaces

Using a Three-Step Segmentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479
Izaak Van Crombrugge, Ibrahim Ben Azza, Rudi Penne,
Gregory Van Barel, and Steve Vanlanduit

Security, Forensics, Surveillance

A Robust Video Watermarking for Real-Time Application . . . . . . . . . . . . . . 493

Ines Bayoudh, Saoussen Ben Jabra, and Ezzeddine Zagrouba

Multi-object Tracking Using Compressive Sensing Features in Markov

Decision Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505
Tao Yang, Cindy Cappelle, Yassine Ruichek,
and Mohammed El Bagdouri

Face Detection in Thermal Infrared Images:

A Comparison of Algorithm- and Machine-Learning-Based Approaches. . . . . 518
Marcin Kopaczka, Jan Nestler, and Dorit Merhof

Cell-Based Approach for 3D Reconstruction from Incomplete Silhouettes . . . 530

Maarten Slembrouck, Peter Veelaert, David Van Hamme,
Dimitri Van Cauwelaert, and Wilfried Philips

Sliding Window Based Micro-expression Spotting: A Benchmark . . . . . . . . . 542

Thuong-Khanh Tran, Xiaopeng Hong, and Guoying Zhao

Bimodal Person Re-identification in Multi-camera System . . . . . . . . . . . . . . 554

Hazar Mliki, Mariem Naffeti, and Emna Fendri
 Contents XV

Image Processing

Adding GLCM Texture Analysis to a Combined Watershed Transform

and Graph Cut Model for Image Segmentation . . . . . . . . . . . . . . . . . . . . . . 569
Kauê T.N. Duarte, Marco A.G. de Carvalho, and Paulo S. Martins

Background Subtraction with Multispectral Images

Using Codebook Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581
Rongrong Liu, Yassine Ruichek, and Mohammed El Bagdouri

Image Ridge Denoising Using No-Reference Metric . . . . . . . . . . . . . . . . . . 591

Nikolay Mamaev, Dmitry Yurin, and Andrey Krylov

A CSF-Based Preprocessing Method for Image Deblurring. . . . . . . . . . . . . . 602

Maria Carmela Basile, Vittoria Bruni, and Domenico Vitulano

Data Augmentation for Plant Classification. . . . . . . . . . . . . . . . . . . . . . . . . 615

Pornntiwa Pawara, Emmanuel Okafor, Lambert Schomaker,
and Marco Wiering

Vision Based Lidar Segmentation for Scan Matching and Camera Fusion. . . . . 627
Gabriel Burtin, Patrick Bonnin, and Florent Malartre

Proposal of Segmentation Method Adapted to the Infrared Sensor . . . . . . . . . 639

Félix Polla, Kamal Boudjelaba, Bruno Emile, and Hélène Laurent

Detection and Tracking of the Pores of the Lamina Cribrosa

in Three Dimensional SD-OCT Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 651
Florence Rossant, Kate Grieve, Stéphanie Zwillinger,
and Michel Paques

Leaves Segmentation in 3D Point Cloud . . . . . . . . . . . . . . . . . . . . . . . . . . 664

William Gélard, Ariane Herbulot, Michel Devy, Philippe Debaeke,
Ryan F. McCormick, Sandra K. Truong, and John Mullet

Relative Camera Pose Estimation Using Convolutional Neural Networks . . . . 675

Iaroslav Melekhov, Juha Ylioinas, Juho Kannala, and Esa Rahtu

Shape Acquisition System Using an Handheld Line Laser Pointer

Without Markers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 688
Jae-Hean Kim, Hyun Kang, Jin Sung Choi, and Chang Joon Park

3D Visualization of Radioactive Sources by Combining Depth Maps

Generated from a Stereo Radiation Detection Device . . . . . . . . . . . . . . . . . . 701
Pathum Rathnayaka, Seung-Hae Baek, and Soon-Yong Park

Filling Missing Parts of a 3D Mesh by Fusion of Incomplete 3D Data. . . . . . 711

Laszlo Kormoczi and Zoltan Kato
XVI Contents

An Efficient Descriptor Based on Radial Line Integration

for Fast Non-invariant Matching and Registration of Microscopy Images . . . . 723
Anders Hast, Gustaf Kylberg, and Ida-Maria Sintorn

3D Shape from SEM Image Using Improved Fast Marching Method. . . . . . . 735
Lei Huang, Yuji Iwahori, Aili Wang, and M.K. Bhuyan

An Enhanced Multi-label Random Walk for Biomedical Image

Segmentation Using Statistical Seed Generation . . . . . . . . . . . . . . . . . . . . . 748
Ang Bian, Aaron Scherzinger, and Xiaoyi Jiang

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 761

Human-Computer Interaction
 A Two-Step Methodology for Human Pose
Estimation Increasing the Accuracy
and Reducing the Amount of Learning Samples
Dramatically

Samir Azrour(B) , Sébastien Piérard, Pierre Geurts,

and Marc Van Droogenbroeck

INTELSIG Laboratory, Department of Electrical Engineering and Computer Science,

University of Liège, Liège, Belgium
samir.azrour@ulg.ac.be

Abstract. In this paper, we present a two-step methodology to improve

existing human pose estimation methods from a single depth image.
Instead of learning the direct mapping from the depth image to the
3D pose, we first estimate the orientation of the standing person seen by
the camera and then use this information to dynamically select a pose
estimation model suited for this particular orientation. We evaluated our
method on a public dataset of realistic depth images with precise ground
truth joints location. Our experiments show that our method decreases
the error of a state-of-the-art pose estimation method by 30%, or reduces
the size of the needed learning set by a factor larger than 10.

1 Introduction
Markerless human pose estimation is essential in a large range of applications
including human-computer interaction, video surveillance, video games, virtual
reality, gait analysis, rehabilitation, and intelligent houses. The vast majority
of markerless human pose estimation systems are camera-based. The preference
goes towards depth cameras rather than color cameras. Indeed, the latter are
sensitive to illumination conditions and textures, and we need more than one
color camera to avoid the problem of scale ambiguity. Since the release of the
Microsoft Kinect camera and the associated pose estimation method [21], depth
cameras have reached an affordable price and, at the same time, pose estimation
has reached a new level of accuracy and robustness using only one camera.
However, current methods require a huge set of learning samples to train
the pose estimation model. The reason is that pose estimation from a single
depth map in an unconstrained environment (i.e. where the person can take
any orientation with respect to the camera) is very complex. Indeed, a pose
estimation method has to implicitly determine the orientation of the person
while predicting the 3D location of the body joints. In previous works [14,15,21],
c Springer International Publishing AG 2017
J. Blanc-Talon et al. (Eds.): ACIVS 2017, LNCS 10617, pp. 3–14, 2017.
https://doi.org/10.1007/978-3-319-70353-4_1
4 S. Azrour et al.

a single machine learning model was learned to handle this task all at once which
explains the need of an enormous amount of learning data to obtain a model
invariant to the orientation. For instance, in [21], Shotton et al. used 2 billion
data samples to learn their model. Despite this, their results showed that there
was still a significant potential for accuracy improvement but they were limited
by the size of their model. Furthermore, the noticeable difference in a depth
image of a person seen from the back or facing the camera can be very small and
the simple features used in [21] to describe the surroundings of a pixel seems
unlikely to be efficient to disambiguate the orientation. Some global features
would clearly be more appropriate for the orientation estimation task.
Following this observation, the current paper extends a previous work by
Azrour et al. [2], that introduced the idea of using an orientation estimate to
improve the accuracy of the pose estimation and validated it on synthetic data.
Here, we go further by evaluating, on the public dataset UBC3V, the complete
pipeline composed of an orientation estimation method followed by a multiple
model pose estimation method, with each model designed for a different range
of orientations. Splitting the process in two different steps allows to use adapted
features and methods for each task and our results show that it requires signifi-
cantly less samples to reach the same or better pose estimation accuracy.

2 Related Work

Markerless human pose estimation systems estimate the pose of a human subject
without the need of any device or marker attached to his body. At the expense of
a loss of accuracy compared to marker-based systems, the markerless systems are
simpler and not invasive which is mandatory, for instance, in sport and medical
applications where the movement must be natural and not altered by some
markers. Indeed, there is a risk that people could be disturbed and distracted
by the markers they wear, leading to a different motion.
Markerless pose estimation systems can be classified in different categories
depending on the type (color or depth), the number of cameras used, and the
process used to recover the pose. The pose estimation process can be based on a
body model tracking method (generative method), on a more direct prediction of
the pose based on the input image (discriminative method), or on a combination
of the two (hybrid method).
The most challenging, in terms of the accuracy of the estimated pose, is to use
a unique color camera. Previous works addressing this task include poselets [4]
or mixture-of-parts model [26]. More recently, convolutional networks have also
been used to perform this task [23,24].
Thanks to a set of calibrated color cameras, we can avoid the problems of
scale ambiguity inherent to the use of a single color camera. A great contribution
was made by Corazza et al. [6,7]. In [6], they built upon the work of Anguelov
et al. [1] to design a subject-specific human body model. This model was used
to track the reconstructed 3D volume of the subject (or visual hull [16]) using
an articulated iterative closest point (ICP) algorithm [7]. Thanks to their body
 A Two-Step Methodology for Human Pose Estimation Increasing 5

model that can fit the body shape of any subject, their method is able to reach
a very high accuracy. With their work, the problem of markerless human pose
estimation using multiple color cameras is considered as mostly solved by some
experts of the domain [22].
Using depth instead of color cameras offers many advantages for the pose
estimation. Indeed, the use of depth images solves the scale ambiguity of the RGB
domain and they are much more invariant to the lightening condition and the
texture. Therefore, it becomes possible to create robust and sufficiently accurate
systems using only one depth camera. A major contribution was proposed by
Shotton, Girschick et al. [13,20,21] where they accurately predict in real-time
the 3D positions of body joints from a single depth image, without using any
temporal information. To achieve this, they used a random forest model learned
from a large, realistic, and highly varied synthetic set of training images.
Body model tracking methods were also used with a single depth camera
[9,10]. However, these methods are less robust (they are sensitive to local min-
ima) and they are generally slower than discriminative methods (as [21]). Com-
bining a body model tracking method with a discriminative method allows to
recover from local minima and to benefit from the time coherence of the tracking
which lead to robust and accurate systems [25].
In the specific domain of human pose estimation from a single depth image
(i.e. where no temporal information is used) two recent contributions were pro-
posed by Jung et al. [14,15]. These two methods can be seen as variants of the
method proposed by Girschick et al. [13]. In [14], Jung et al. estimate the joints
locations by “walking” through the depth image and predicting the direction
toward a given joint at each step. The joints are recovered sequentially by tak-
ing advantage of the human skeleton structure. In this way, they significantly
increased the speed compared to [13] (1, 000 frame per second (fps) on a single
CPU against 200 fps on a parallelized implementation) while being even more
accurate. In [15], they proposed a two-step method where they first estimate the
3D locations of the joints and then label them. They claim that this procedure
leads to a significant increase of the accuracy compared to the state-of-the-art
methods. However, the dataset used to evaluate these two methods, the EVAL
dataset [10], is only 10 cm accurate (mentioned by the authors and confirmed by
a visual inspection of the data). Moreover, this dataset contains depth images
of subjects performing the same sequence of movements where they are facing
the camera most of the time. Therefore, further experimentations with a dataset
containing more precise groundtruths and more diversified poses should be used
to assess more reliably the accuracy of these algorithms.
Recently, a new dataset (UBC3V) was released by Shafaie et al. [19]. This
dataset was built in a similar way as the one used by Shotton et al. [21]. It
can be used to design pose estimation methods using up to 3 depth cameras.
The markerless pose estimation domain was really lacking such a publicly avail-
able dataset. Therefore, it is an important contribution that allows to compare
new methods on a same reliable basis. In [19], Shafaie et al. also proposed a
multiple depth cameras pose estimation method. In each camera, they used a
6 S. Azrour et al.

convolutional network to predict a body part label for each pixel following [20].
Then, they merged the results from all the cameras in a common 3D space and
estimated the joints locations based on the 3D point cloud. Their method out-
performs state-of-the-art pose estimation methods using multiple depth cameras.

3 Our Method

3.1 Leveraging an Orientation Estimate to Improve Pose Estimation

The orientation θ of a subject is defined as the orientation of his pelvis. Here,

we arbitrarily selected θ = 0◦ when the subject is seen from his right side and
θ = 90◦ when the subject is seen from his back, as shown in Fig. 1.

Fig. 1. Orientation convention and ranges of orientations used for the four-model
method in the experiments. Each model is learned using poses with orientations
included in a sector of 110◦ and consecutive sectors have an overlap of 20◦ .

To take into account the orientation estimate in the pose estimation process,
we follow what was done in our previous work [2]. Instead of learning a single
model M to deal with the whole range of orientation O = [0◦ , 360◦ ], we learn n
models Mi designed for different ordered ranges of orientation Oi , such that:

O1 ∪ ... ∪ On = [0◦ , 360◦ ]. (1)

Consecutive ranges partly overlap to take into account the uncertainty in the
orientation estimate:

Oi ∩ Oj = ∅, ∀i, j : i = j ± 1 (mod n), (2)

Oi ∩ Oj = ∅, ∀i, j : i = j ± 1 (mod n). (3)
 A Two-Step Methodology for Human Pose Estimation Increasing 7

Given an overlap of l degrees between all the consecutive orientation ranges,

the appropriate pose estimation model is dynamically selected at test time based
on an orientation estimate θ̂:
 
l l
M(θ̂) = Mi if θ̂ ⊆ lower bound(Oi ) + , upper bound(Oi ) − . (4)
2 2

It follows from Eq. (4) that a correct pose estimation model will always be
selected if the error on the orientation estimate is bounded by 2l degrees.
Separating the orientation estimation from the pose estimation has two main
advantages: (1) it allows to use different and more appropriate features for the
orientation estimation, and (2) it greatly facilitates the task of the pose estima-
tion model which allows to reach higher accuracy with less training data.
This general methodology can be used with various orientation and pose
estimation methods. For the purpose of the experiments, we selected state-of-
the-art methods for these two tasks. These methods are explained below.

3.2 Orientation Estimation

The orientation estimation method used in this paper is based on the one pro-
posed by Piérard et al. in [17].
To describe each depth image, 5 binary silhouettes are extracted from the
depth silhouette of the subject seen by the camera. These binary silhouettes are
obtained by thresholding the depthmap. Each of them is described using one
shape context descriptor [3] with 5 radial bins and sectors of 30◦ . The shape
context descriptor used is centered on the gravity center of the binary silhouette
and is populated by all external and internal contours.
The machine learning algorithm used to predict the orientation is the ExtRa-
Trees [12]. As this algorithm uses an averaging to produce the outputs, we must
avoid to directly predict the orientation angle θ because the poses with θ  0◦
and θ  360◦ are very close which would lead to random orientation estimates.
Therefore, we separately estimate cos θ and sin θ to avoid this discontinuity.
Then, the orientation estimate θ̂ can be obtained as follows:
 
θ
sin
−1
θ̂ = tan . (5)
θ
cos

3.3 Pose Estimation

We used our own implementation of the state-of-the-art pose estimation method
proposed by Girshick et al. [13] which was thoroughly evaluated in [21] and com-
mercially used with the Microsoft Kinect camera. This method uses regression
random forests to predict the 3D location of the body joints directly from the
raw depth image.
To accurately implement [13], we used the code library Sherwood [18] which
is a general purpose, object-oriented software framework for solving decision
8 S. Azrour et al.

forest inference problems [8]. This framework offers a great flexibility and can
be adapted to a wide range of inference problems. This is achieved thanks to
interfaces that have to be implemented by the user and that define how the
framework interacts with the data.
A forest is an ensemble of decision trees, each composed of split and leaf
nodes. In our implementation, we trained one forest for each body joint j
separately. The goal of the regression forest, for a given joint j and a given
pixel p, is to estimate the offset p→j going from the pixel 3D location
x(p) = (x(p), y(p), z(p)) to the 3D location of the body joint j. At test time,
this is performed for all the silhouette’s pixels and the predicted offsets are added
to the pixel 3D locations to produce a set of estimates for the 3D location of the
body joint j. The final proposal is given by the first mode (obtained with the
mean shift algorithm) of the distribution of these estimates.
The learning data used to train the tree structure include a set of depth
images, the 3D locations of the body joints in these images, and a set of pix-
els S = {pi } sampled from these images. The features used to describe the
surroundings of a pixel are simple depth comparisons [20]. For a given pixel
p = (x, y) and two 2D offsets Δ = (δ 1 , δ 2 ), the feature f is defined as:
   
δ1 δ2
f (p, Δ) = z p + −z p+ , (6)
z(p) z(p)
where z(p) is the depth at pixel p. The offsets are divided by the depth at the
pixel p to achieve depth translation invariance.
At each split node, multiple 2D offsets Δ and thresholds τ are randomly
sampled from uniform distributions. Each pair φ = (Δj , τj ) induces a partition
of the set of pixels S at the parent node into left and right subsets S L (φ) and
S R (φ) such as:
S L (φ) = {pi | f (pi , Δj ) < τj } , (7)
S R (φ) = S \ S L (φ). (8)
The best φ is selected according to:
|S L (φ)| |S R (φ)|
φ∗ = argmin I(S L (φ)) + I(S R (φ)), (9)
φ |S| |S|

where |.| denotes the cardinality, and the objective function I(S) is computed as
the variance of the offsets going from each pixel in the set S to the body joint j.
In each leaf, based on the pixels that reached this leaf during training, we
compute and store the mean offset.

4 Experiments
4.1 Dataset
To learn and test our proposed method, we used the dataset UBC3V introduced
by Shafaei and Little [19]. This dataset is composed of synthetic depth images
 A Two-Step Methodology for Human Pose Estimation Increasing 9

of realistic human characters with various poses for training and evaluation of
single or multiview depth-based pose estimation methods. The data generation
procedure was very close to the one used by Shotton et al. [21]. The human char-
acters were generated using the free and open source sofware MakeHuman and
the poses were taken from the CMU motion capture database [5]. Such a pub-
lic dataset with realistic and various poses and precise groundtruths was really
something missing in the markerless pose estimation community. Hopefully, this
will allow to perform a reliable evaluation of the existing and future methods
and to compare their performances on a same basis.
Before that, the EVAL dataset [10] was frequently used to evaluate pose esti-
mation methods [14,15,27]. However, in the EVAL dataset, the human models
are facing the camera most of the time and performing the same sequence of
movements. Moreover, according to the author of the dataset [10,11] and con-
firmed by visual inspection, the precision of the groundtruth 3D joints locations
is about 10 cm. That is a problem to evaluate realiably the accuracy of pose
estimation methods. The new synthetic dataset UBC3V fixes these problems by
covering the whole orientation range and by providing precise groundtruths.
The UBC3V dataset consists of three sub-datasets with varying complexity.
The first one (easy-pose) contains one human character in various standing pose.
The second one (inter-pose) still contains only one human character but with a
more varied set of poses, like, for instance, upside-down poses, lying poses, etc.
Finally, the third and last dataset (hard-pose) includes several human characters
with different physical shapes. For each instance of a human character and a
pose, three cameras are randomly placed in a virtual scene and depth images are
rendered from these viewpoints. Moreover, each of the three mentioned datasets
includes train, validation, and test sets with mutually disjoint poses.
In this paper, we only used the first dataset (easy-pose) because it is the only
one that is compatible with a meaningful definition of the orientation. Indeed,
for all the poses where the human character is not in a standing position, it
is not possible to reliably define an orientation. Nonetheless, this is not a big
limitation for our method because, in most applications, the human subject is
in a standing position.

4.2 Orientation Estimation

First, we learned and evaluated the orientation estimation method described in

Sect. 3.2 on the new dataset UBC3V. The easy-pose dataset was used both to
learn and test the two orientation estimation models predicting respectively the
cosine and the sine of the orientation angle.
The error Δθ is defined as the smallest rotation between the true orientation θ
and the estimated orientation θ̂. Hence, Δθ can be derived from the dot product
between (cos θ, sin θ) and (cos θ̂, sin θ̂):

cos(Δθ) = (cos θ, sin θ) • (cos θ̂, sin θ̂) = cos(θ̂ − θ), (10)
10 S. Azrour et al.

and therefore
Δθ = cos−1 (cos(θ̂ − θ)). (11)
We used 100k images from the train set to learn the ExtRaTrees model with
100 trees and default parameters [12]. The learned model was then evaluated
on 10k images from the test set. For each image, the orientation estimate was
obtained using Eq. (5). Then, Eqs. (10) and (11) were used to determine the error
Δθ on each image. The mean error Δθ on the 10k test images was 6.2◦ , which is
consistent with the result reported in [17]. It is worth mentioning that, with the
learned models, an error of more than 20◦ is made on less than 5% of the poses in
the test set. This may lead, in rare cases, to the choice of a wrong pose estimation
model if we work on single depth images with no use of temporal information.
However, in practice, as mentioned in [17], a light temporal filtering can be used
to avoid these rare bigger errors. Such a filtering has not been implemented in
this work as we aim at estimating the pose from single images.

4.3 Pose Estimation without an Orientation Knowledge

To have a basis of comparison for our approach, we learned and evaluated the
pose estimation method without using an estimation of the orientation of the
person seen by the camera. In this case, for each considered body joint, a single
model has to deal with the whole range of orientations [0◦ , 360◦ ]. The machine
learning model has to implicitly learn the small clues related to the orientation
in the depth image while predicting the pose at the same time. It is quite a hard
task when the seen person can take any orientation. As we will see in the next
section, an orientation knowledge can substantially ease this task.
To build the learning set, given the available computational resources, 20k
images were picked from the train set of the easy-pose dataset and 1k pixels were
randomly sampled from each of them. Then, a forest of three trees (as in [21])
was learned for each body joint separately. Finally, we evaluated the learned
models on 10k test images.
We analyzed 8 body joints: head, shoulder, elbow, wrist, hip, knee, and ankle.
For each considered body joint, the accuracy of the corresponding model is given
by the mean Euclidean distance error of the predictions with respect to the
groundtruth 3D body joint locations. The results are given in the first column
of the Table 1.

4.4 Pose Estimation with an Orientation Knowledge

To leverage an orientation estimate in the pose estimation process, we used

four models instead of a single one with each model designed for orientations
included in sectors of 110◦ . To take into account the small uncertainty in the ori-
entation estimate, the sectors of two consecutive models overlap by 20◦ . Figure 1
illustrates the four chosen sectors and the orientation convention used in the
experiments. The choice of four models was based on the results obtained in [2]
which showed that it was a good trade-off between, on the one side, the accuracy
 A Two-Step Methodology for Human Pose Estimation Increasing 11

Table 1. Mean Euclidean distance errors on the positions of the considered body joints
for different numbers of models and learning dataset sizes. We can see that even with
ten times less training data (i.e. 500 images for each of the four models instead of
20k for a single model), the four-model method outperforms the one-model method for
almost all the body joints.

Amount of models: 1 4 4
Learning images per model: 20, 000 20,000/4 = 5, 000 500
Range of each model: 360◦ 360◦/4 + 2 × 10◦ = 110◦ 360◦/4 + 2 × 10◦ = 110◦
Mean error Head 2.6 cm 2.3 cm (−11.5%) 2.6 cm (−0%)
Shoulder 3.7 cm 2.9 cm (−21.6%) 3.2 cm (−13.5%)
Elbow 8.9 cm 6.3 cm (−29.2%) 7.8 cm (−12.4%)
Wrist 13.9 cm 10.4 cm (−25.2%) 13.2 cm (−5.0%)
Hip 3.4 cm 2.5 cm (−26.5%) 3.1 cm (−8.8%)
Knee 6.3 cm 4.6 cm (−27.0%) 6.4 cm (+1.6%)
Ankle 11.2 cm 8.1 cm (−27.7%) 10.8 cm (−3.6%)
Mean 7.1 cm 5.3 cm (−25.4%) 6.7 cm (−5.6%)

improvement that is obtained from the shrinkage of the orientation ranges when
we increase the number of models and the accuracy deterioration due to the
reduction of the learning set size per model.
With the selected orientation ranges, when the orientation estimate doesn’t
fall in the overlap of two sectors, a correct pose estimation model is always
selected (using Eq. (4)) if the error on the orientation estimate is smaller than
20◦ . However, when the orientation estimate falls in the overlap of two sectors,
the risk of selecting a wrong pose estimation model is higher. Here, we can ensure
that a correct pose estimation model will be selected for any orientation estimate
if the error on the orientation estimate is bounded by 10◦ which is equal to half
of the overlap.
To make a fair comparison with the one-model method, we used the same
total amount of data, i.e. a total of 20k images with 5k images for each of the
four models. The results on 10k test images are given in the second column of
Table 1. We can see a significant accuracy improvement for all the body joints
with respect to the one-model method.
Figure 2 illustrates the influence of the learning dataset size on the mean
euclidean error for the most challenging joint (wrist). The three curves corre-
spond, respectively from to bottom, to the one-model method, the four-model
method when we know the exact orientation, and the four-model method when
we use an orientation estimate. As noticed above, the accuracy improvement for
a constant learning dataset size is significant when we use an orientation esti-
mate. We also see that the accuracy obtained with the orientation estimate is a
little bit worse than the one obtained knowing the exact orientation. This means
that a wrong pose estimation model is selected for some poses in the test set.
This difference can be reduced by a using bigger overlaps between consecutive
sectors at the expense of a loss of accuracy.
12 S. Azrour et al.

Fig. 2. Mean Euclidean error on the wrist for the one-model method (blue curve), the
four-model method using the exact orientation (red curve) and the four-model method
using the predicted orientation (green curve). (Color figure online)

Furthermore, it is very interesting to note that the four-model method using

only 2k images (500 images per model) performs better than the one-model
method using 20k images. The last column of Table 1 gives the results obtained
for all the joints using only 500 images to learn each of the four models. We
observe that, thanks to an orientation estimate, we can reduce the learning
dataset size by a factor larger than 10 and still outperform the one-model method
for most of the joints which allows to save a precious amount of time during the
learning phase.

5 Conclusion
In this paper, we evaluated a novel two-step markerless pose estimation method
on the public pose estimation dataset UBC3V. The first step of this method
consists in estimating the orientation of the person seen by the camera. Then,
this orientation estimate is used to dynamically choose an appropriate pose
estimation model. Our results show that this methodology significantly improves
the accuracy when a constant learning set size is used. Moreover, we show that
using an orientation estimate allows to reach a better accuracy even when the
learning set size is reduced by a factor greater than 10.

Acknowledgments. Samir Azrour is supported by a research fellowship of the Bel-

gian National Fund for Scientific Research (www.frs-fnrs.be).
 A Two-Step Methodology for Human Pose Estimation Increasing 13

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