Eye Gaze Based 3D Triangulation for Robotic Bionic Eyes

doi:10.3390/s20185271

CASIA OpenIR > 中科院工业视觉智能装备工程实验室 > 精密感知与控制

	Eye Gaze Based 3D Triangulation for Robotic Bionic Eyes
	Fan, Di 1; Liu, Yanyang 2; Chen, Xiaopeng 1,3; Meng, Fei 3,4; Liu, Xilong5 ; Ullah, Zakir 3; Cheng, Wei 1; Liu, Yunhui 6; Huang, Qiang3,4
发表期刊	SENSORS
	2020-09-01
卷号	20 期号:18 页码:24
通讯作者	Chen, Xiaopeng(xpchen@bit.edu.cn)
摘要	Three-dimensional (3D) triangulation based on active binocular vision has increasing amounts of applications in computer vision and robotics. An active binocular vision system with non-fixed cameras needs to calibrate the stereo extrinsic parameters online to perform 3D triangulation. However, the accuracy of stereo extrinsic parameters and disparity have a significant impact on 3D triangulation precision. We propose a novel eye gaze based 3D triangulation method that does not use stereo extrinsic parameters directly in order to reduce the impact. Instead, we drive both cameras to gaze at a 3D spatial point P at the optical center through visual servoing. Subsequently, we can obtain the 3D coordinates of P through the intersection of the two optical axes of both cameras. We have performed experiments to compare with previous disparity based work, named the integrated two-pose calibration (ITPC) method, using our robotic bionic eyes. The experiments show that our method achieves comparable results with ITPC.
关键词	active binocular vision 3D coordinates estimation eye gaze 3D triangulation robotic bionic eyes
DOI	10.3390/s20185271
关键词[WOS]	HEAD ; RECONSTRUCTION ; CALIBRATION ; SYSTEM
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[91748202] ; Science and Technology Program of Beijing Municipal Science and Technology Commission[Z191100008019003] ; Open Project Fund of Hebei Static Traffic Technology Innovation Center, AIPARK[001/2020] ; Pre-research Project[41412040101]
项目资助者	National Natural Science Foundation of China ; Science and Technology Program of Beijing Municipal Science and Technology Commission ; Open Project Fund of Hebei Static Traffic Technology Innovation Center, AIPARK ; Pre-research Project
WOS研究方向	Chemistry ; Engineering ; Instruments & Instrumentation
WOS类目	Chemistry, Analytical ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000582633800001
出版者	MDPI
引用统计	被引频次：7[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/41812
专题	中科院工业视觉智能装备工程实验室_精密感知与控制
通讯作者	Chen, Xiaopeng
作者单位	1.Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China 2.AIPARK, Zhangjiakou 075000, Peoples R China 3.Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robots & Syst, Beijing 100081, Peoples R China 4.Beijing Inst Technol, Minist Educ, Key Lab Biomimet Robots & Syst, Beijing 100081, Peoples R China 5.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 6.Chinese Univ Hong Kong, Dept Mech & Automat Engn, Shatin, Hong Kong 999077, Peoples R China
推荐引用方式 GB/T 7714	Fan, Di,Liu, Yanyang,Chen, Xiaopeng,et al. Eye Gaze Based 3D Triangulation for Robotic Bionic Eyes[J]. SENSORS,2020,20(18):24.
APA	Fan, Di.,Liu, Yanyang.,Chen, Xiaopeng.,Meng, Fei.,Liu, Xilong.,...&Huang, Qiang.(2020).Eye Gaze Based 3D Triangulation for Robotic Bionic Eyes.SENSORS,20(18),24.
MLA	Fan, Di,et al."Eye Gaze Based 3D Triangulation for Robotic Bionic Eyes".SENSORS 20.18(2020):24.