Real-time full-body human gender recognition in (RGB)-D data

Understanding social context is an important skill for robots that share a space with humans. In this paper, we address the problem of recognizing gender, a key piece of information when interacting with people and understanding human social relations and rules. Unlike previous work which typically considered faces or frontal body views in image data, we address the problem of recognizing gender in RGB-D data from side and back views as well. We present a large, gender-balanced, annotated, multi-perspective RGB-D dataset with full-body views of over a hundred different persons captured with both the Kinect v1 and Kinect v2 sensor. We then learn and compare several classifiers on the Kinect v2 data using a HOG baseline, two state-of-the-art deep-learning methods, and a recent tessellation-based learning approach. Originally developed for person detection in 3D data, the latter is able to learn the best selection, location and scale of a set of simple point cloud features. We show that for gender recognition, it outperforms the other approaches for both standing and walking people while being very efficient to compute with classification rates up to 150 Hz.