Fig. 2From: Robust head pose estimation based on key frames for human-machine interactionEstimation of nose feature. From a previous pose (a), we define a 3D point on the tip of the nose (b). Then, From a new frame (c), we find all neighboring points from last estimation (d) and select the furthest point in the direction of last pose estimation (e). This point is then included in the ICP calculationBack to article page