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Eye Gaze Based 3D Triangulation for Robotic Bionic Eyes.

Di Fan1, Yanyang Liu2, Xiaopeng Chen1,3

  • 1School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.

Sensors (Basel, Switzerland)
|September 18, 2020
PubMed
Summary
This summary is machine-generated.

This study introduces a new 3D triangulation method using eye gaze, bypassing stereo extrinsic parameters for improved accuracy in computer vision and robotics. The novel approach achieves results comparable to existing methods.

Keywords:
3D coordinates estimation3D triangulationactive binocular visioneye gazerobotic bionic eyes

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Area of Science:

  • Computer Vision
  • Robotics
  • 3D Reconstruction

Background:

  • Active binocular vision systems require online calibration of stereo extrinsic parameters for 3D triangulation.
  • The accuracy of stereo extrinsic parameters and disparity significantly impacts 3D triangulation precision.
  • Existing methods like integrated two-pose calibration (ITPC) rely on these parameters.

Purpose of the Study:

  • To propose a novel eye gaze-based 3D triangulation method.
  • To reduce the impact of stereo extrinsic parameter accuracy on 3D triangulation precision.
  • To achieve comparable or improved results compared to disparity-based methods.

Main Methods:

  • Utilizing visual servoing to drive both cameras to gaze at a 3D spatial point.
  • Determining 3D coordinates through the intersection of the two optical axes, bypassing direct use of stereo extrinsic parameters.
  • Comparing the novel method with the integrated two-pose calibration (ITPC) method.

Main Results:

  • The proposed eye gaze-based 3D triangulation method achieves comparable results to the ITPC method.
  • Experimental validation using robotic bionic eyes demonstrates the efficacy of the new approach.
  • The method successfully performs 3D triangulation without direct reliance on stereo extrinsic parameters.

Conclusions:

  • The novel eye gaze-based method offers a viable alternative for 3D triangulation in active binocular vision systems.
  • This approach mitigates the sensitivity to stereo extrinsic parameter calibration accuracy.
  • The findings suggest potential for enhanced precision and robustness in robotic vision applications.