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Heart rate from face videos under realistic conditions for advanced driver monitoring

  • University of Augbsurg

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The role of physiological signals has a large impact on driver monitoring systems, since it tells something about the human state. This work addresses the recursive probabilistic inference problem in time-varying linear dynamic systems to incorporate invariance into the task of heart rate estimation from face videos under realistic conditions. The invariance encapsulates motion as well as varying illumination conditions in order to accurately estimate vitality parameters from human faces using conventional camera technology. The solution is based on the canonical state space representation of an Itô process and a Wiener velocity model. Empirical results yield to excellent real-time and estimation performance of heart rates in presence of disturbing factors, like rigid head motion, talking, facial expressions and natural illumination conditions making the process of human state estimation from face videos applicable in a much broader sense, pushing the technology towards advanced driver monitoring systems.
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Current Directions in Biomedical Engineering 2017; 3(2): 483487
Christian S. Pilz*, Sebastian Zaunseder, Ulrich Canzler and Jarek Krajewski
Heart rate from face videos under realistic
conditions for advanced driver monitoring
Abstract: The role of physiological signals has a large
impact on driver monitoring systems, since it tells something
about the human state. This work addresses the recursive
probabilistic inference problem in time-varying linear
dynamic systems to incorporate invariance into the task of
heart rate estimation from face videos under realistic
conditions. The invariance encapsulates motion as well as
varying illumination conditions in order to accurately
estimate vitality parameters from human faces using
conventional camera technology. The solution is based on the
canonical state space representation of an Itô process and a
Wiener velocity model. Empirical results yield to excellent
real-time and estimation performance of heart rates in
presence of disturbing factors, like rigid head motion, talking,
facial expressions and natural illumination conditions making
the process of human state estimation from face videos
applicable in a much broader sense, pushing the technology
towards advanced driver monitoring systems.
Keywords: Photoplethysmography Imaging, Diffusion
Process, SDE, Invariance, Psychophysiology, Human State
1 Introduction
During the last years, the task of measuring skin blood
perfusion and heart rate measurements from facial images
became inherent part of several top conferences.
Interestingly, most contributions focus on how to cope with
motion like head pose variations and facial expressions since
any kind of motion on a specific skin region of interest will
destroy the underlying blood perfusion signal in a way that
no reliable information can be extracted anymore. Figure 1
illustrates the disturbing influence of head motions on the
raw pulse signal.
1.1 Related work
The term Photoplethysmography, short PPG, dates back to
the late first half of the 20th century, when Molitor and
Kniazak [1] recorded peripheral circulatory changes in
animals. One year later, Hertzmann [2] introduced the term
Photoelectric Plethysmograph as he observed "the amplitude
of volume pulse as a measure of the blood supply of the
skin". With the ongoing fast development of semiconductor
technology, the last three decades has seen large progress in
the PPG instrumentation. PPG sensors have been explored
extensively, including the ring finger, wrist, brachia, earlobe,
and external ear cartilage. Advancement to the classical PPG
is the camera based Photoplethysmography Imaging (PPGI)
method introduced by the pioneering work of Blazek [3].
Since his first published visualisation of pulsatile skin
perfusion patterns in the time and frequency domain,
classical signal processing methods are applied commonly to
extract reasonable information out of the perfusion signals
[4][5][6]. Hülsbusch [4] realized that motion of the skin area
of interest inherently induces artifacts into the extracted
signal. Therefore, canceling motion artifacts during signal
processing became an important aspect for reliable skin
* Corresponding author: Christian S. Pilz: CanControls GmbH,
Markt 45, 52064 Aachen, Germany, e-mail:
Sebastian Zaunseder: TU Dresden, Institut für Biomedizinische
Technik, Fetscherstr. 29, 01307 Dresden, Germany
Ulrich Canzler: CanControls GmbH, Markt 45, 52064 Aachen,
Germany, e-mail:
Jarek Krajewski: Bergische Universität Wuppertal, Institut für
Sicherheitstechnik HF - Arbeitsbereich Human Factors &
Diagnostik, Gaußstraße 20 42119 Wuppertal, Germany
Figure 1: A Typical scenario where heart rate estimation becomes
challenging, rigid head motions. In the first 250 frames the user is
in a resting state and the fine pulsation of blood flow is visible on
the averaged green channel of skin pixels. After 300 frames the
user starts to move his head and the pulse signal gets lost.
blood perfusion measurements. From the basic early idea of
compensating the motion of the skin area of interest by
optical flow methods directly in the image plane [4], Poh et
al. [6] regarded the problem solution for facial videos as a
blind source separation task using Independent Component
Analysis (ICA) over the different color channels. De Haan
and Jeanne [10] proposed to map the PPGI-signals by linear
combination of RGB data to a direction that is orthogonal to
motion induced artifacts. A recent alternative, which does not
require skin-tone or pulse-related priors in contrast to the
channel mapping algorithms, determines the spatial subspace
of skin-pixels and measures its temporal rotation for signal
extraction [11]. We go beyond the state of the art and
propose a holistic classical interpretation of the blood
perfusion phenomena.
2 Methodology
The underlying system of measuring heart rates from face
regions using conventional camera technology is modelled
upon a diffusion process. The entire process itself is divided
into independent single processes; the heart frequency, the
illumination and the users head movement and facial motion.
The periodic event of heart frequency is expressed in form of
a stochastic resonator
 󰇛󰇜󰇛󰇜 󰇛󰇜 (1)
󰇛󰇜 󰇛󰇜 󰇛󰇜 (2)
representing the solution of a second order differential
equation with respect to the classical mechanics of circular
motion [13]. The white noise component 󰇛󰇜 reflects small
changes in amplitude and phase. The major advantage of
such a stochastic representation of a resonator is, even when
the frequency has discontinuous the signal is always
continuous. Figure 2 shows a single stochastic oscillator with
time-varying frequency and amplitude. The illumination as
well as the head movement and facial motion are expressed
as a Wiener process
 󰇛󰇜 (3)
whereby a violation of the smoothness criterion yields to a
generalized Poisson (e.q. Cox) process
󰇛󰇜  (4)
describing the time varying jump frequency and magnitude
of pixel intensities. Figure 3 shows a simulated trajectory of
a Wiener process and its realization modulated by a Poisson
The general solution of the corresponding stochastic
differential equations
󰇛󰇜 
󰇛󰇜 (5)
is given by Itô's lemma [12].
Figure 2: A simulated trajectory of a stochastic oscillator with
frequency trace in a range typical for a human in resting state.
Figure 1: A simulated trajectory of a Wiener process and its
realization modulated by a Poisson process with jump frequency
1.95 and magnitude 35.
The discrete-time approximation yields to [14]
󰇛 󰇜 󰇛󰇜
 󰇛 󰇜
 (6)
with   , the Wiener process 󰇛󰇜 with spectral
density and the covariance of the stochastic integral
 (7)
with 󰇛󰇜, which results to the discrete-time model
󰇛󰇜 (8)
󰇛󰇜 (9)
with process noise
󰇛󰇜  (10)
and measurement noise
󰇛󰇜 (11)
If the resonator's fundamental frequency is known, the
solution yields to a general time-discrete linear dynamic
system [9]. However, since the resonator's fundamental
frequency is unknown, the problem is given as latent state of
the frequency. This results in a Markov process, whereby the
latent states are time-discrete linear dynamic systems. The
closed form solution to this problem is described by Bloom
and Bar-Shalom [8]. The advantage of this kind of
formulation is that the case of non-uniform sampling as well
as missing observations is naturally included in the model.
The basic idea of methodology is inspired by the work of
Särrkä [7].
3 Experiments
To evaluate the proposed model, empirical data is collected
under natural environmental conditions with a typical low-
cost opto-electronical sensor device, a Logitech HD C270
webcam, as well as reference ground truth measurements
using a common finger pulseoximeter, a CMS50E PPG
device. 25 users were asked to perform video recordings in
two sessions resulting in a total amount of 50 videos. The
first session is selected to be even-tempered without any kind
of larger head or body movements and facial expressions.
During the second session, participants were free to move
their head naturally while remaining seated. Typical
movements included tilting the head sideways, nodding the
head, looking up/down and leaning forward/backward. Some
participants also made facial expressions, or started to talk.
There reflecting typcial driver behaviour. The recording
illumination environment was chosen as daylight scenario
without any additional lighting. The duration of each session
is approximately one minute. The frame rate was fixed to 15
fps in average and the corresponding time stamps for each
frame were captured too. The finger pulseoximeter data for
each session and participant was stored for later comparison.
For every video recording a standard face finder was used to
determine the analysis region of interest. The extracted
averaged gray intensity feature was feed into the vector
valued representation of the diffusion process on a frame by
frame basis. On every estimated pulse trace a spectral peak is
determined by the Lomb periodogram. The frame duration
was set to 10 seconds with 90 percent overlap. The
correlation and Bland-Altman plots for the resting and head
motion condition are reported in the following figure 5 and
figure 6 respectively. To obtain further insides about the
potential strength of the diffusion process model, the
approach is compared against the recently published Spatial
Subspace Rotation (SSR) [11] and the baseline ICA approach
Figure 2: Comparison of an estimated pulse signal under rigid
head motions and the corresponding spectrogram for the ICA [6],
the SSR [11] and the diffusion process method. These estimates
are based upon the video illustrated in figure 1.
Figure 5: Correlation and Bland-Altman plots of PPGI diffusion
process estimated heart rate against CMS50E PPG reference of
25 users in resting state.
[6]. Figure 4 compares an users estimated pulse signal under
rigid head motions and the corresponding spectrogram for the
three methods. The heart rate for the ICA methods nearly
gets lost completely. For the SSR method the frequency trace
is better visible but cannot compete against the diffusion
process model where the heart rate is very clear over the
entire sequence of head movements. The detailed correlation
coefficients and squared errors of prediction for all
approaches are provided for the two data sessions in Table 1.
ICA performs worst and is not able to provide reliable heart
rate information during head motion. Although SSR performs
better it cannot compete against the robustness of the
diffusion process.
Table 1: Pearson's correlation coefficient and squared errors
of prediction of ICA, the SSR and the diffusion process (DP)
method under different scenarios.
Head Rotation
4 Conclusion
In this work, we have presented a holistic signal
interpretation of heart rate estimation from face videos under
realistic simulated driving conditions. The closed form
solution of the corresponding stochastic differential equations
yields to a diffusion process where the exact estimate of the
source separated heart rate signal is obtained via the posterior
distribution of the process. We compared the model against
two common approaches on face videos under resting as well
as head and facial motion scenarios under natural
illumination conditions. Measurements on a 25 user
experiment showed clearly superior robustness of the
diffusion process modelling, although the uncertainty of
prediction still gets slightly increased during natural head
motion. We conclude that an entirely invariant process model
still depends on a more robust feature representation.
Author’s Statement
Research funding: The research leading to these results has
received funding from the German Federal Ministry of
Education and Research (BMBF) under grant agreement
01|S15024 (VIVID - IKT2020/2015-2018). The opinions
expressed here are those of the authors and may or may not
reflect those of the sponsoring parties. Conflict of interest:
Authors state no conflict of interest. Informed consent:
Informed consent has been obtained from all individuals
included in this study. Ethical approval: The research related
to human use complies with all the relevant national
regulations, institutional policies and was performed in
accordance with the tenets of the Helsinki Declaration, and
has been approved by the authors' institutional review board
or equivalent committee.
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Figure 6: Correlation and Bland-Altman plots of PPGI diffusion
process estimated heart rate against CMS50E PPG reference of
25 users performing head rotations.
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... Results show that the energy of the blood volume signal is rearranged in vector space with a more concentrated distribution. Moreover, the recursive probabilistic inference problem in time-varying linear dynamic systems has been addressed to incorporate the invariance into the task of heart rate estimation from face videos under realistic conditions [5]. ...
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