Driver Head Monitoring using

Multi-core ARM processor
By : Goutham A.H.
2nd year M.Tech in VLSI Design
and Embedded Systems, DSCE.
under the guidance of
Prof. K.P. Shashikala



 Talking, eating, phone usage,
drowsiness, fatigue etc.

potential for intelligent
driver assistance systems(IDA)
to alert the driver of potential


driver behavior is hence
becoming an increasingly important
component if IDA’s

were shown to better predict lane change intent 3 seconds ahead of the intended event. Head motion. along with lane position and vehicle dynamics are used to predict a driver’s intent to turn. .  Head motion cues. when compared with eye-gaze cues.Importance of Driver Head Pose Driver head and eye dynamics derive where or at what the driver is looking.

a driver spends 95% of the time facing forward. Higher the speed. which are critical to driver safety occur. It is during those 5% non-frontal glances that are of special interest when interesting events.Driver Head Pose in Critical Situations  During a typical ride. . narrower is the drivers visual range and the driver is not expected to turn away from the frontal pose even for a fraction of a second.

Head movements during a merge event .

Distributed camera framework for head movement analysis can operate even during large head movements. .Single camera perspectives are susceptible to occlusion of facial features from spatially large head movements from the frontal pose.

Multi-Perspective Framework Each camera is tracks the head independently. Advantage is the covering of large pose space. .

Multi-perspective data selection .

nose above mouth.CLM Algorithm  Local Models to search for individual items. etc. eyes are above nose.  Use the knowledge of shape to constrain the search.) .  Patch model: Describes each individual item. mouth (patches)  Shape Model: Describes where each patch can appear (for a normal person. such as nose. eyes.

Architecture .


Image annotations .

◦ q is a vector of parameters that controls non rigid shape. such as eye corners.CLM algorithm for facial feature tracking ◦ Facial features refer to salient landmarks on the face. . nose corners. mouth contour and outer face contour and the Point Distribution Model is given by: ◦ is the mean value of the ith feature. nose tip. ◦ Φi is a principal component matrix.

ty]T is the translation term ◦ R2D is the rotation matrix .◦ s is a scaling term that is used to controls the distance from camera (s = f/Z here f is the focal length and Z is the depth from camera). ◦ t = [tx .

q } fitting algorithm look for maximum a posteriori probability (MAP) of the parameters p . t . R2D .Let p CLM = {s .

◦ A Direct Least Squares (DLS) method is used to solve the PnP and to obtain the head rotation in 3 degrees of freedom. . ◦ The CLM algorithm outputs 68 landmark points that are considered for PnP problem. Head Pose Estimation ◦ Given n (n ≥ 3) 3D reference points in the object framework and their corresponding 2D projections the perspective-n-point (PnP) problem solving algorithm determines the orientation and position of a camera.B.

CLM Tracker Image sequence Bounding Shape box Face initializati parameters detection on Fitting successful failed Validatio n .


USB 3.9GB/s memory bandwidth)  eMMC5.4a and DisplayPort1.1 for display .0 GHz quad core and Cortex™-A7 1. Samsung Exynos5422 Cortex™-A15 2.0 Host x 1. USB 2.4 GHz quad core CPUs  2Gbyte LPDDR3 RAM at 933MHz (14.0 HS400 Flash Storage  USB 3.0 OTG x 1.0 Host x 4  HDMI 1.

.Test bed for on road evaluation Camera placement on the car dashboard.

OpenCV for image processing  OpenCV (Open Source Computer Vision) is a library of programming functions mainly aimed at realtime computer vision. OpenCV's application areas include:  2D and 3D feature toolkits  Facial recognition system  Gesture recognition  Human–computer interaction (HCI)  Mobile robotics  Motion understanding  Object identification  Segmentation and Recognition  Stereopsis Stereo vision: depth perception from 2 cameras  Motion tracking .

Intel TBB Threading Building Blocks (TBB) is a C++ template library developed by Intel for writing software programs that take advantage of multi-core processors.and taskbased applications. TBB library makes parallel performance and scalability easily accessible to write loop. .

Results and Evaluations .

of events 6 7 3 8 4 3 31 .Naturalistic driving events Events Right turns Left turns Stop sign Right lane change Left lane change Merge Total No.

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