Model-based three-dimensional head pose estimation

A method, comprising:

• performing at least one iterative closest point (ICP) iteration on a candidate head pose;
• performing at least one particle swarm optimization (PSO) iteration on the candidate head pose based on a global head pose;
• and
• modifying a shape of a three-dimensional reference model based on the candidate head pose.

A system, comprising:

• at least one sensor configured to acquire depth data associated with a head of a user;
• and
• a processor that is coupled to the at least one sensor and, when executing instructions, is configured to:
• initialize each particle included in a set of particles with a different candidate head pose;
• perform at least one optimization pass that comprises:
• performing at least one iterative closest point (ICP) iteration for each particle included in the set of particles to modify the candidate head pose associated with each particle;
• performing at least one particle swarm optimization (PSO) iteration to modify at least one candidate head pose based on a global best head pose associated with the set of particles;
• and
• modifying a shape of a three-dimensional reference model based on the depth data.