# POSEidon: Face-from-Depth for Driver Pose Estimation

arXiv: https://arxiv.org/abs/1611.10195 · HTML: https://mlsanity.com/paper/1611.10195/

## Key facts

- Cited by 16 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Nov 2016.

## Built on by (most cited first, 16 of 16)

- [Depth Any Video with Scalable Synthetic Data](https://mlsanity.com/paper/2410.10815/) (2024)
- [DATID-3D: Diversity-Preserved Domain Adaptation Using Text-to-Image Diffusion for 3D Generative Model](https://mlsanity.com/paper/2211.16374/) (2022)
- [Towards Robust and Unconstrained Full Range of Rotation Head Pose Estimation](https://mlsanity.com/paper/2309.07654/) (2023)
- [A Survey on RGB-D Datasets](https://mlsanity.com/paper/2201.05761/) (2022)
- [Supervised Contrastive Learning for Detecting Anomalous Driving Behaviours from Multimodal Videos](https://mlsanity.com/paper/2109.04021/) (2021)
- [GEM: Glare or Gloom, I Can Still See You -- End-to-End Multimodal Object Detection](https://mlsanity.com/paper/2102.12319/) (2021)
- [Artificial Intelligence Methods in In-Cabin Use Cases: A Survey](https://mlsanity.com/paper/2101.02082/) (2021)
- [2D Image head pose estimation via latent space regression under occlusion settings](https://mlsanity.com/paper/2311.06038/) (2023)
- [Defending Deep Regression Models against Backdoor Attacks](https://mlsanity.com/paper/2411.04811/) (2024)
- [Audio-video fusion strategies for active speaker detection in meetings](https://mlsanity.com/paper/2206.10411/) (2022)
- [Recent Advancement in 3D Biometrics using Monocular Camera](https://mlsanity.com/paper/2401.02646/) (2024)
- [Driver Attention Tracking and Analysis](https://mlsanity.com/paper/2404.07122/) (2024)
- [DAOS: A Multimodal In-cabin Behavior Monitoring with Driver Action-Object Synergy Dataset](https://mlsanity.com/paper/2601.11990/) (2026)
- [Latent Embedding Clustering for Occlusion Robust Head Pose Estimation](https://mlsanity.com/paper/2403.20251/) (2024)
- [SecureGaze: Defending Gaze Estimation Against Backdoor Attacks](https://mlsanity.com/paper/2502.20306/) (2025)
- [GADS: A Super Lightweight Model for Head Pose Estimation](https://mlsanity.com/paper/2504.15751/) (2025)

## Abstract (arXiv)

Fast and accurate upper-body and head pose estimation is a key task for automatic monitoring of driver attention, a challenging context characterized by severe illumination changes, occlusions and extreme poses. In this work, we present a new deep learning framework for head localization and pose estimation on depth images. The core of the proposal is a regression neural network, called POSEidon, which is composed of three independent convolutional nets followed by a fusion layer, specially conceived for understanding the pose by depth. In addition, to recover the intrinsic value of face appearance for understanding head position and orientation, we propose a new Face-from-Depth approach for learning image faces from depth. Results in face reconstruction are qualitatively impressive. We test the proposed framework on two public datasets, namely Biwi Kinect Head Pose and ICT-3DHP, and on Pandora, a new challenging dataset mainly inspired by the automotive setup. Results show that our method overcomes all recent state-of-art works, running in real time at more than 30 frames per second.