Gaze Point Tracking Based on a Robotic Body-Head-Eye Coordination Method

doi:10.3390/s23146299

	Gaze Point Tracking Based on a Robotic Body-Head-Eye Coordination Method
	Feng, Xingyang 1; Wang, Qingbin2 ; Cong, Hua 1; Zhang, Yu 1; Qiu, Mianhao 1
发表期刊	SENSORS
	2023-07-01
卷号	23 期号:14 页码:37
通讯作者	Qiu, Mianhao(15801000128@163.com)
摘要	When the magnitude of a gaze is too large, human beings change the orientation of their head or body to assist their eyes in tracking targets because saccade alone is insufficient to keep a target at the center region of the retina. To make a robot gaze at targets rapidly and stably (as a human does), it is necessary to design a body-head-eye coordinated motion control strategy. A robot system equipped with eyes and a head is designed in this paper. Gaze point tracking problems are divided into two sub-problems: in situ gaze point tracking and approaching gaze point tracking. In the in situ gaze tracking state, the desired positions of the eye, head and body are calculated on the basis of minimizing resource consumption and maximizing stability. In the approaching gaze point tracking state, the robot is expected to approach the object at a zero angle. In the process of tracking, the three-dimensional (3D) coordinates of the object are obtained by the bionic eye and then converted to the head coordinate system and the mobile robot coordinate system. The desired positions of the head, eyes and body are obtained according to the object's 3D coordinates. Then, using sophisticated motor control methods, the head, eyes and body are controlled to the desired position. This method avoids the complex process of adjusting control parameters and does not require the design of complex control algorithms. Based on this strategy, in situ gaze point tracking and approaching gaze point tracking experiments are performed by the robot. The experimental results show that body-head-eye coordination gaze point tracking based on the 3D coordinates of an object is feasible. This paper provides a new method that differs from the traditional two-dimensional image-based method for robotic body-head-eye gaze point tracking.
关键词	bionic eyes gaze point tracking gaze point approaching body-eye-head coordination 3D coordinates
DOI	10.3390/s23146299
关键词[WOS]	SMOOTH-PURSUIT ; MODEL ; MECHANISM ; SACCADE
收录类别	SCI
语种	英语
WOS研究方向	Chemistry ; Engineering ; Instruments & Instrumentation
WOS类目	Chemistry, Analytical ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:001071464200001
出版者	MDPI
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/53150
专题	中国科学院工业视觉智能装备工程实验室
通讯作者	Qiu, Mianhao
作者单位	1.Army Acad Armored Forces, Beijing 100072, Peoples R China 2.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Feng, Xingyang,Wang, Qingbin,Cong, Hua,et al. Gaze Point Tracking Based on a Robotic Body-Head-Eye Coordination Method[J]. SENSORS,2023,23(14):37.
APA	Feng, Xingyang,Wang, Qingbin,Cong, Hua,Zhang, Yu,&Qiu, Mianhao.(2023).Gaze Point Tracking Based on a Robotic Body-Head-Eye Coordination Method.SENSORS,23(14),37.
MLA	Feng, Xingyang,et al."Gaze Point Tracking Based on a Robotic Body-Head-Eye Coordination Method".SENSORS 23.14(2023):37.