WQuatNet: Wide range quaternion-based head pose estimation

Abstract

Head pose estimation (HPE) is a critical task for numerous applications ranging from human-computer interaction, healthcare, and robotics, to surveillance. Most existing methods employ Euler angles as a representation, which often face challenges such as a gimbal lock, especially in full-range rotation scenarios or rotation matrices that require nine parameters. This study introduces WQuatNet, a novel deep learning-based model that leverages the quaternion representation, which uses only four parameters, to avoid this challenge. WQuatNet was designed based on a landmark-free HPE method to predict head poses across the full-range angles of 360 degrees\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$<^>{\circ }$$\end{document} from images. Landmark-free methods bypass the need for explicit detection of facial landmarks; instead, they leverage the entire image to estimate the head orientation. The model incorporates a RepVGG-D2se backbone for robust feature extraction and introduces two loss functions tailored for quaternion predictions. Our experimental results on multiple HPE datasets covering both narrow- and full-range angles demonstrate that WQuatNet outperforms the state-of-the-art (SOTA) approaches in terms of accuracy. The performance of the proposed HPE was evaluated using the CMU, AGORA, BIWI, AFLW2000, and 300W-LP datasets. We also perform ablation studies and error analyses to validate the significance of each component of the model.